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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000000/VIDEO_COMPLETE.json

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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000000/alignment_metadata.json

@@ -0,0 +1,161 @@
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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000002/VIDEO_COMPLETE.json

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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000002/alignment_metadata.json

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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000004/VIDEO_COMPLETE.json

@@ -0,0 +1,122 @@
+{
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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000004/alignment_metadata.json

@@ -0,0 +1,161 @@
+{
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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000005/VIDEO_COMPLETE.json

@@ -0,0 +1,122 @@
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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000005/alignment_metadata.json

@@ -0,0 +1,161 @@
+{
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+    "idx63_arm_r_joint3",
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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000006/VIDEO_COMPLETE.json

@@ -0,0 +1,122 @@
+{
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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000006/alignment_metadata.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000009/VIDEO_COMPLETE.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000009/alignment_metadata.json

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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000010/VIDEO_COMPLETE.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000010/alignment_metadata.json

@@ -0,0 +1,161 @@
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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000011/VIDEO_COMPLETE.json

@@ -0,0 +1,122 @@
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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000011/alignment_metadata.json

@@ -0,0 +1,161 @@
+{
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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000012/VIDEO_COMPLETE.json

@@ -0,0 +1,122 @@
+{
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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000012/alignment_metadata.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000013/VIDEO_COMPLETE.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/long7_conversion_evidence/episode_000013/alignment_metadata.json

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+      "worst_m": null,
+      "per_row": {}
+    },
+    "bprime": {
+      "rows": 0,
+      "waived_pairs": 0,
+      "per_row": {}
+    },
+    "moving_bodies": [
+      "/World/CoffeeTaskPreview/BeanBag",
+      "/World/CoffeeTaskPreview/Cup",
+      "/World/RoomEpisode/CakeYellow/Asset/Object",
+      "/World/RoomEpisode/Fryer/Asset/Centered/Tray",
+      "/World/RoomEpisode/MealTray/Asset/Object"
+    ],
+    "planning_pairs": 291473,
+    "drawer_axis_world": [
+      0.9988998455571285,
+      0.04689454708113421,
+      0.0
+    ],
+    "cake_settles": [],
+    "measured_hold_baseline_m": -0.0035443334287103157,
+    "measured_hold_baseline_waived": 0,
+    "rail_limit_m": 0.1459999978542328,
+    "max_predicted_opening_m": 0.0,
+    "reopen_max_m": 0.14
+  },
+  "all_control_frames_checked": true,
+  "elapsed_s": 191.9257611441426,
+  "task5_template": {
+    "problems": [],
+    "blocks": {},
+    "template_sha256": "9f8f1b68ecf9d40455ba224d6c2cfd4de0b3b6176fa2932520e1818d11bfdea4",
+    "source": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/openend50_v1/samples/AF50-042/a2/commands.jsonl",
+    "source_sha256": "4b1dbb103fe97ab9d90330a7c7609a9539f3723e5db95aced64d69f39f9f9192",
+    "waived": {
+      "fryer_2_1": [
+        [
+          "l",
+          "cake"
+        ],
+        [
+          "r",
+          "handle"
+        ]
+      ],
+      "fryer_2_3": [
+        [
+          "r",
+          "handle"
+        ]
+      ]
+    },
+    "passed": true
+  },
+  "task5_coffee_inherited": {
+    "enabled": true,
+    "opening_fallbacks": 323,
+    "filtered_inherited_violations": 318,
+    "original_audit": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/server_continuation_v755/C004_stable2820/native1066/audit.json",
+    "original_audit_sha256": "765ff61a9c4da240c11de57d0d292b34077da7d83a9797cb519e8750e2a0ce1c",
+    "base_candidate_sha256": "79d302a64d7276db82f5b23f1d7e6794262f685efcc85796076df5c30d5372d4",
+    "deactivated": [
+      "/World/Assets/AirFryer",
+      "/World/Cutlery",
+      "/World/FoodTray",
+      "/World/MealDiverse"
+    ],
+    "new_object_roots": [
+      "/World/RoomEpisode/Fryer",
+      "/World/RoomEpisode/CakeYellow",
+      "/World/RoomEpisode/CakeWhite",
+      "/World/RoomEpisode/FryerPlate",
+      "/World/RoomEpisode/MealTray"
+    ]
+  },
+  "task5_inherited": {
+    "from_original_audit": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/server_continuation_v755/C004_stable2820/native1066/audit.json",
+    "original_audit_sha256": "765ff61a9c4da240c11de57d0d292b34077da7d83a9797cb519e8750e2a0ce1c",
+    "items": [
+      "dynamics_v693 passed=False",
+      "coffee v24 envelope order 1"
+    ]
+  },
+  "task5_adapter": {
+    "support_review_v172": false,
+    "c004_support": true,
+    "script": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g2a_v1/tools/audit_task5_v36.py",
+    "replacements": [
+      {
+        "old_sha256": "6143e0cb5c2e2bc0785ed52a4f5a4e3933c438adf46443187812f875efcb09c5",
+        "new_sha256": "d21317af032a176336af1986da3073c9c771c4451ba60e8c2037532e4a690a4e",
+        "old_head": "    assert a.case in ('C001','C018','C024','C040')\n"
+      },
+      {
+        "old_sha256": "ce4d3bbc41d6c3a3ab922deb1045c7687c554d5cf3da30d3d22d103443c4398c",
+        "new_sha256": "aab3501f75b1e134f5987c30d7e522af630fbd46dad6fe993d9d3ec9809172a6",
+        "old_head": "        for order in (1,2):\n            assert np.all(np.abs(np.diff(arr(rows),n=order,axis=0)).max(0)<=np.abs(np.diff(a"
+      },
+      {
+        "old_sha256": "5650576ff80a4f4097fe6aaf29e84846ae252cfaa9b5c5deda900e54daf349d1",
+        "new_sha256": "78f20826d019102ca48b03295e7ee2bc6998d59139952bb926acf51b5dd276e4",
+        "old_head": "    expected={'C001':T/'new_initials_v738/C001/initial0','C018':T/'fleet_grounded_v690/C018','C024':T/'fleet_grounded_v6"
+      },
+      {
+        "old_sha256": "5487cb6da4d083770c6285b40be4f95ff7491a18754850f5f37aa9df64110d7e",
+        "new_sha256": "0c2c40054bcec986431a3ae5ce54db3358b9bf645e038663f0e9c78ae200846a",
+        "old_head": "    repair=read(source/'binding.json')\n"
+      },
+      {
+        "old_sha256": "efacfd18a819ee37cc1bf2ac0f11a4c4c934b852781b2e4566f45f335fb8c169",
+        "new_sha256": "5b4ebfadee2fb9a94debbfc76b5568dc3d77d67cbfcc4503302750e38901e314",
+        "old_head": "        dynamics_path=candidate_path.parent/'dynamics_v693.json'\n        dynamics=read(dynamics_path)\n        assert dyn"
+      },
+      {
+        "old_sha256": "1045016bb0262a45966ad1e2e717cba456f6914d3fc672d962b5c1369e75d893",
+        "new_sha256": "941be370f8b5748f451450d9ec1ee884e78f6bf76a55b732c58352c8877ad81e",
+        "old_head": "        assert len(candidate['rows'])==2851 and candidate['control_hz']==20\n"
+      },
+      {
+        "old_sha256": "58390f067b9099527775f0871a0deb4094fdfbe891dff26667fdf97d0578d7a4",
+        "new_sha256": "a1d9300a4fc674908c83e4bb4b99c39f3f0d87dbd86be59add3f468161beee5f",
+        "old_head": "        for p in (source/'binding.json',baseline,dynamics_path,"
+      },
+      {
+        "old_sha256": "1d03410f631e141a9b2dd83f38735b053c7d623b44a8b9fd76f378c4a7865381",
+        "new_sha256": "08767d3a438766b2221730945edb2eb1689fe82b22655626318c2392dba79aa1",
+        "old_head": "        for ix,r in enumerate(rows):\n            q,tcp=configure(r);act=r['action'];stage,phase=r['stage'],r['phase']\n  "
+      },
+      {
+        "old_sha256": "37f41655906481b6d1811bf962c3355482c6efeedacb259668417e763ddfedb4",
+        "new_sha256": "da5db0276388725ffa18584b5a13018e453f105b2277c2864310541a2ec0f2c0",
+        "old_head": "        result['place_grip_geometry']="
+      },
+      {
+        "old_sha256": "1d977803db7a50c169f221f749da20b64a0d75aff615483cbe939bd9a95bc734",
+        "new_sha256": "05574361a9906167185891acc1118e1938d1d9410574d0584de6f8c1596bd3e5",
+        "old_head": "            def allowance(self,x,y,phase):\n"
+      }
+    ],
+    "original": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/audit_parallel_fleet_v1058.py",
+    "original_sha256": "1ea6a7f31909e0a1738d634c8c429eb1bad9acee8ab2487ea4355f95a2d4ef4b"
+  }
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/base_exec_summary.json

@@ -0,0 +1,175 @@
+{
+ "walk_rows": 1850,
+ "switches": [
+  {
+   "row": 3861,
+   "kind": "turn",
+   "root_before": [
+    3.843493700027466,
+    -0.9887429475784302,
+    1.4901161193847656e-08,
+    5.820766091346741e-11,
+    -1.8599166651256382e-10,
+    -0.027319708839058876,
+    0.9996269345283508
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 4125,
+   "kind": "drive",
+   "root_before": [
+    3.843493700027466,
+    -0.9887431859970093,
+    1.1175870895385742e-08,
+    -9.313225746154785e-09,
+    -2.08092387765646e-09,
+    0.8688509464263916,
+    0.4950737953186035
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 4305,
+   "kind": "turn",
+   "root_before": [
+    3.50105881690979,
+    -0.41088661551475525,
+    1.4901161193847656e-08,
+    -7.450580596923828e-09,
+    7.261405698955059e-09,
+    0.8688510656356812,
+    0.4950738251209259
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 4479,
+   "kind": "hold",
+   "root_before": [
+    3.50105881690979,
+    -0.4108865559101105,
+    2.2351741790771484e-08,
+    7.450580596923828e-09,
+    -3.761670086532831e-09,
+    1.0,
+    0.00036269519478082657
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 5261,
+   "kind": "turn",
+   "root_before": [
+    3.50105881690979,
+    -0.4108865559101105,
+    -6.332993507385254e-08,
+    1.862645149230957e-09,
+    -3.776222001761198e-09,
+    1.0,
+    0.0003626944962888956
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+   "pose_unchanged": true
+  },
+  {
+   "row": 5476,
+   "kind": "drive",
+   "root_before": [
+    3.50105881690979,
+    -0.41088658571243286,
+    -8.568167686462402e-08,
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+    3.899913281202316e-09,
+    0.7145175933837891,
+    0.6996177434921265
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 5659,
+   "kind": "turn",
+   "root_before": [
+    3.486405849456787,
+    0.28438934683799744,
+    -1.601874828338623e-07,
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+    0.7145175933837891,
+    0.6996177434921265
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+   "pose_unchanged": true
+  },
+  {
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+   "kind": "hold",
+   "root_before": [
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+    0.28438934683799744,
+    -2.1606683731079102e-07,
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+    9.408540790900588e-08,
+    0.9961392283439636,
+    -0.08778797835111618
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+   "pose_unchanged": true
+  },
+  {
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+   "kind": "turn",
+   "root_before": [
+    3.486405849456787,
+    0.28438928723335266,
+    -2.123415470123291e-07,
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+    0.9961392283439636,
+    -0.08778797835111618
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+   "pose_unchanged": true
+  },
+  {
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+   "kind": "drive",
+   "root_before": [
+    3.486405849456787,
+    0.2843892574310303,
+    -2.1606683731079102e-07,
+    -4.6566128730773926e-09,
+    1.5002297004684806e-07,
+    0.70023512840271,
+    -0.7139124274253845
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 9174,
+   "kind": "turn",
+   "root_before": [
+    3.4998180866241455,
+    -0.4089117646217346,
+    -7.450580596923828e-08,
+    -6.51925802230835e-09,
+    1.528132997918874e-07,
+    0.70023512840271,
+    -0.7139124274253845
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 9392,
+   "kind": "hold",
+   "root_before": [
+    3.4998180866241455,
+    -0.408911794424057,
+    -7.078051567077637e-08,
+    -1.30385160446167e-07,
+    1.418447936885059e-07,
+    0.9999999403953552,
+    -0.0005077694077044725
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+   "pose_unchanged": true
+  }
+ ],
+ "unfinished_primitive": false,
+ "first_walk_row": 3861
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/bean_tracking.json

@@ -0,0 +1,404 @@
+{
+  "case": "C004",
+  "expected_count": 100,
+  "start_index": 1416,
+  "machine_world": [
+    [
+      -6.001565652438214e-09,
+      0.0,
+      -1.0000000000000002,
+      4.661522580731608
+    ],
+    [
+      -1.0,
+      0.0,
+      6.001565670833258e-09,
+      -0.9399995656038957
+    ],
+    [
+      0.0,
+      1.0,
+      0.0,
+      0.92
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "centre_low": [
+    -0.08610500395298004,
+    0.21049999980628498,
+    -0.07073148458523083
+  ],
+  "centre_high": [
+    0.01715072051951096,
+    0.27069822119946085,
+    0.049554999917746034
+  ],
+  "physical_verified": false,
+  "current_scene_bound": true,
+  "scope": "Nominal diagnostic reference box only, NOT containment or copied physical evidence. Fresh native tracks all100 finite identities every required substep under unchanged original contacts.",
+  "source_sha256": {
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/continuous_candidate_v24/candidate.json": "0c6f2d31e78960f4c9185fdc8086148fed0615efeca016451db0825ef684050e",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/queue_preflight_v41/scenes/C022/composition.json": "7e916bc5c154ce818a9617177a665db4126ee89e1aed6ca296b11b1d4910167b",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/queue_preflight_v41/scenes/C022/room.usdc": "98035f7d70bfd91b40571a95e6bb1fd5f49d81eb8d9ad5833eeb858678634284",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_replay_v27/native_initial.usdc": "c0f79f6c91eb07b7ffae611b63087eb61055685d9267db0f1adfada8e012db2b",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_replay_v27/report.json": "35441b11c382820f61ddc9856553b3397eeca1d2f2fb4c3e58cbc1d42e9ccd43",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/retarget_case_v43.py": "c696bd5882d003ca722aaf459cb85f1476f3a4c59491488b42ed558c5e67266b",
+    "/home/lingjun/coffee-workspace/coffee_task_workbench_20260922/cup_place/kinematics.py": "ca3c29df8882415765d0c03477686d084d0ef90cedeaa34c2f1c85b086169a66",
+    "/home/lingjun/coffee-workspace/coffee_task_workbench_20260922/cup_place/robot_model.json": "d341fa8d7bde71a04ca5f63996c9f9440e53d91843451a0a78c7f770b9d09389",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/station_repair_C022_v47/composition.json": "3f22c8ed2196c696630586211875f73a11a7578c8f808f7e9121b05dc012f2cc",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/station_repair_C022_v47/room.usdc": "7d7a21391e33f576d86b5ac77c447ffef75cd02bb89e0a642b4990b02c3e8747",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/station_repair_C022_v47/candidate.json": "1f1b925e5b471f5324b733142b5efa18553c25aa8d1ccdf219878be8ccfd8327",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/grasp_pose_C022_v64/search.json": "3bbe83f3dc6b173c17eb0c4bf1d7c89231b28cf97557e3c4b5a2e4ac52d87b62",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_grasp_path_v65.py": "55f4353cbb2f435f559f48aff338305ae42a4cdae8804f52c0ae2544d800d6db",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/local_motion_context_v62.py": "3829b004df520c50f75030d97fedb7e852beb79659324670fa5889dbcd8cce4a",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/grasp_path_C022_v65/candidate.json": "1b1276d400b017abe0762fb08a94fd58f1f3277b2fec13fe53749ce9cbb52f84",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_preclose_v69.py": "17f5b6a732f6ae93187fe631fcb308fe05e437a2cda2aa6e45e42ff1f8d555d7",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/preclose_C022_v69/opening_400mrad/candidate.json": "8b7335f57a8d3ab7605c942f704ac7b0d49bf4664db3b9514e092738cb2c4cd5",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_repaired_C022_v72/report.json": "83bc4ef1b127426ba808fecbcb015cd84993c073c568c46e2e9370c218ed9942",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_repaired_C022_v72/frames.jsonl": "4f9648650814f9d9e8d05b92f76b5abaf825f59e0789052a57e7ba6f08715b09",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_repaired_C022_v72/native_initial.usdc": "ecad880a03b31d72276e0cb199ecde8cf1dbcaefe17d66847e92f4dcb7e32df7",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_landing_v76.py": "6c16038057d4fa26606de2c3b96e4b35da7814c5d3a00f84272b6811c162aa92",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_release_v90.py": "127ccbaa6a51dc37ddec7367e5f314cbf760c95b493a8ce5e65708284012c9c4",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/landing_C022_v76/candidate.json": "4f04aecf500db6cec2ca8962d882b77ff05ff7bdde16b1e061dc39c08b3e0fa1",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_gripper_closure_v88.py": "bae4e7ef62a1f4855478a6c73ff2edbd9ab82cdd8dd8c98ece915228dd72c2e4",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_landing_v79.py": "0db2e9f6ed4029e956f24d7dd169be617449f69c17d6bfa125ad01ecd36c846b",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_release_timing_v100.py": "f530a4b2abd221c7b51075c763c8d980412709a870a698b262fe59bf9f2ce8c1",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_release_v93.py": "f7d37d513b2ab2f5962c78dc123cedcfca2f246030f736d6bc6cb6fb5ca54582",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/report.json": "ba988b58aa70b050b63d23276185655c88cbed532f50ff9ea72084ee21134177",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/request.json": "a26f62e62840b3a4c556cbad7802dbf228a3c39baab33fdf3123fbf755610aed",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/frames.jsonl": "a3f9233d6d845257afa9099fca9ed7a33ff22991984dd3af0e107976992d1a66",
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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/coverage.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/final_pose.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/initial_acceptance.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/mesh.json

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+  }
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/rail_release.json

@@ -0,0 +1,51 @@
+{
+ "enabled": true,
+ "released": true,
+ "events": [
+  {
+   "physics_step": 95420,
+   "sim_time": 397.5833333333333,
+   "measured_stroke_m": 0.14500629830952017,
+   "threshold_m": 0.145,
+   "direct_pose_delta_m": 0.0,
+   "direct_velocity_delta": 0.0,
+   "pose_before": [
+    [
+     0.997510158379825,
+     -0.07052257390896967,
+     0.0002247182910178691,
+     2.7206194400787354
+    ],
+    [
+     0.07052251560920196,
+     0.9975101545549601,
+     0.0002575886054273136,
+     0.44870853424072266
+    ],
+    [
+     -0.00024232458866891725,
+     -0.00024109955141065695,
+     0.9999999415748984,
+     0.9199997186660767
+    ],
+    [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "velocity_before": [
+    0.04008093476295471,
+    0.026339644566178322,
+    -0.0028600324876606464,
+    -0.015369230881333351,
+    0.02636626549065113,
+    0.21780157089233398
+   ],
+   "mechanism": "stroke-triggered joint release; not geometry-only detachment"
+  }
+ ],
+ "substeps": 115992,
+ "note": "physics_step counts substeps from the first settle row; motion row = step // 12 - 20"
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/request.json

@@ -0,0 +1,455 @@
+{
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+  "floor": "/World/Background/Shell/Floor",
+  "released_bean_envelope": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/native_cand_g3pilot_c2m_prefix/bean_tracking.json",
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+  "spill_policy_v655": {
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+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/native_cand_g3pilot_c2m_prefix/mesh.json": "c13cce7e71eb13d588271f29f84b09ab9d5a90b5fe07d294705172fbcc7f6f94",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/native_cand_g3pilot_c2m_prefix/bean_tracking.json": "3d7618ebec2c2da3af4b04fb6b579ce25f6b32185d4c48ff42fdec87f8229613",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/own_no_timeout_v2545.py": "9ca0637764af1e91d0ba1e6d9cc9f8c622529312a2ee601390704f01997e3517",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/kit_own_no_timeout_v2546.py": "2ad15d697f1536d6843188bd1eac8f9a43581e790dc69f037ba491e589bda590",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/kit_C007_strong_v3024.py": "487739d7fb0373a17552cd7b4c8ddcd94f90c4ab3aa0a7be24e07ba84c52cc95"
+  },
+  "task5": {
+    "case": "C004",
+    "composition": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/composition.json",
+    "base_candidate": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/original_adapter_runs_v1398/C004_stable_outside2814/candidate.json",
+    "base_candidate_sha256": "79d302a64d7276db82f5b23f1d7e6794262f685efcc85796076df5c30d5372d4",
+    "candidate_sha256": "93b44548b786a9bf69446907e1697f844dd7406c1d4f8285604e64185e54955e",
+    "coffee_rows": 3193,
+    "appended_rows": 6453,
+    "prepare_adapter": {
+      "script": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g2a_v1/tools/prepare_task5_v1.py",
+      "original": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/prepare_native_fleet_v772.py",
+      "original_sha256": "1acc1cd91be35ab12b5eda29ab9307edcb71f2b2aed93bf7403dd0b6d1afbdc5",
+      "replacements": [
+        {
+          "old": "start_index=1397,",
+          "new": "start_index=TASK5_BEAN_START,"
+        },
+        {
+          "old": "    assert a.case in ('C001','C018','C020','C024','C030','C040')\n",
+          "new": "    assert a.case in TASK5_CASES\n"
+        },
+        {
+          "old": "    assert au['examined_rows']==au['total_rows']==len(c['rows'])==2851 and",
+          "new": "    assert au['examined_rows']==au['total_rows']==len(c['rows'])>=2851 and"
+        },
+        {
+          "old": "root=Path(c['composition']).parent;binding=read(root/'binding.json')",
+          "new": "root=Path(c['composition']).parent;binding=read(TASK5_BASE_BINDING)"
+        },
+        {
+          "old": "Path(c['composition']),root/'binding.json',reference,",
+          "new": "Path(c['composition']),TASK5_BASE_BINDING,reference,"
+        },
+        {
+          "old": "binding=str(root/'binding.json'),",
+          "new": "binding=str(TASK5_BASE_BINDING),"
+        }
+      ]
+    },
+    "original_native": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/server_continuation_v755/C004_stable2820/native1066",
+    "original_bean_start_index": 1416,
+    "prepare_script": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g2a_v1/tools/prepare_task5_v2.py",
+    "audit_prefix": {
+      "candidate": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/cand_g3pilot_c2m_prefix/candidate.json",
+      "sha256": "357d33e4e0d3aa5373d79ed2a4a34de0bb626af0555fb30e1603cc24627991e5",
+      "rows": 3861
+    },
+    "walk_certificate": {
+      "path": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/cand_g3pilot_c2m/walk/walk_certificate.json",
+      "sha256": "c1007bac72370bff69d58148e56bef795fd9567dd0926ea1e7f02ec6f8e523df"
+    },
+    "walk_spotcheck": {
+      "path": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/walkspot_cand_g3pilot_c2m/walk_spotcheck.json",
+      "sha256": "b29875c5dcf43131a3a0586ccc40be256e672eeef3b2c4e345f7fa33c2731732"
+    },
+    "prefix_screen": {
+      "path": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/prefix_screen_check.json",
+      "sha256": "a79d93a83b3909c1bd2cff134cf441ea2d022868217902dec2cde028d9a74243"
+    }
+  },
+  "timing_policy": {
+    "id": "own_no_timeout2545",
+    "user_authorized": true,
+    "stage_timeout_enabled": false,
+    "total_timeout_enabled": false,
+    "physical_success_rules_unchanged": true,
+    "contact_rules_unchanged": true,
+    "original_timed_acceptance": false
+  },
+  "original_timed_acceptance": false
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/settle.json

@@ -0,0 +1,1182 @@
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+        -1.1162989139556885,
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+      "tilt_deg": 1.7455443435103742e-05,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "bag": {
+      "position": [
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+        -1.144283652305603,
+        0.9200000166893005
+      ],
+      "tilt_deg": 0.0,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "placement": {
+      "xy_error_m": 0.21147881084293732,
+      "outlet_over_opening": false,
+      "outside_bay": true
+    },
+    "robot_machine_contact": false,
+    "beans_in_hopper": 0,
+    "beans_total": 100,
+    "liquid": {
+      "emitted": 0,
+      "in_cup": 0,
+      "airborne": 0,
+      "spilled": 0,
+      "initial_in_cup": 0,
+      "mode": "visual_cpu_v1"
+    },
+    "button": {
+      "displacement_m": -0.0004315805435181064,
+      "robot_on_button": false,
+      "dispensing": false,
+      "events": [],
+      "event_by_robot": []
+    }
+  },
+  {
+    "step": 17,
+    "time_s": 0.8500000000000001,
+    "cup": {
+      "position": [
+        4.477574348449707,
+        -1.1162989139556885,
+        0.9187809228897095
+      ],
+      "tilt_deg": 1.7455443435103742e-05,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "bag": {
+      "position": [
+        4.7332305908203125,
+        -1.144283652305603,
+        0.9200000166893005
+      ],
+      "tilt_deg": 0.0,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "placement": {
+      "xy_error_m": 0.21147881084293732,
+      "outlet_over_opening": false,
+      "outside_bay": true
+    },
+    "robot_machine_contact": false,
+    "beans_in_hopper": 0,
+    "beans_total": 100,
+    "liquid": {
+      "emitted": 0,
+      "in_cup": 0,
+      "airborne": 0,
+      "spilled": 0,
+      "initial_in_cup": 0,
+      "mode": "visual_cpu_v1"
+    },
+    "button": {
+      "displacement_m": -0.0004315805435181064,
+      "robot_on_button": false,
+      "dispensing": false,
+      "events": [],
+      "event_by_robot": []
+    }
+  },
+  {
+    "step": 18,
+    "time_s": 0.9,
+    "cup": {
+      "position": [
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+        -1.1162989139556885,
+        0.9187809228897095
+      ],
+      "tilt_deg": 1.7455443435103742e-05,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "bag": {
+      "position": [
+        4.7332305908203125,
+        -1.144283652305603,
+        0.9200000166893005
+      ],
+      "tilt_deg": 0.0,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "placement": {
+      "xy_error_m": 0.21147881084293732,
+      "outlet_over_opening": false,
+      "outside_bay": true
+    },
+    "robot_machine_contact": false,
+    "beans_in_hopper": 0,
+    "beans_total": 100,
+    "liquid": {
+      "emitted": 0,
+      "in_cup": 0,
+      "airborne": 0,
+      "spilled": 0,
+      "initial_in_cup": 0,
+      "mode": "visual_cpu_v1"
+    },
+    "button": {
+      "displacement_m": -0.0004315805435181064,
+      "robot_on_button": false,
+      "dispensing": false,
+      "events": [],
+      "event_by_robot": []
+    }
+  },
+  {
+    "step": 19,
+    "time_s": 0.9500000000000001,
+    "cup": {
+      "position": [
+        4.477574348449707,
+        -1.1162989139556885,
+        0.9187809228897095
+      ],
+      "tilt_deg": 1.7455443435103742e-05,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "bag": {
+      "position": [
+        4.7332305908203125,
+        -1.144283652305603,
+        0.9200000166893005
+      ],
+      "tilt_deg": 0.0,
+      "pads_bilateral": false,
+      "robot_contact": false,
+      "supports": [
+        "counter"
+      ],
+      "ground_contact": false,
+      "machine_body_contact": false,
+      "displacement_m": 0.0
+    },
+    "placement": {
+      "xy_error_m": 0.21147881084293732,
+      "outlet_over_opening": false,
+      "outside_bay": true
+    },
+    "robot_machine_contact": false,
+    "beans_in_hopper": 0,
+    "beans_total": 100,
+    "liquid": {
+      "emitted": 0,
+      "in_cup": 0,
+      "airborne": 0,
+      "spilled": 0,
+      "initial_in_cup": 0,
+      "mode": "visual_cpu_v1"
+    },
+    "button": {
+      "displacement_m": -0.0004315805435181064,
+      "robot_on_button": false,
+      "dispensing": false,
+      "events": [],
+      "event_by_robot": []
+    }
+  }
+]

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/support_binding2645.json

@@ -0,0 +1 @@
+{"case": "C004", "old": "/World/Background/Shell/ConstructorKitchen/MetricScale/CornerGapBase300_A/Body/Worktop", "actual": "/World/Background/Shell/ConstructorKitchen/MetricScale/CornerGapBase300_B/Body/Worktop", "scene_changes": 0, "physics_changes": 0, "score_changes": 0, "note": "Only binding identity. Fresh live PhysX contact must still satisfy original support/initial/phase scoring. No synthetic contact or accepted flag."}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/task5_gate.json

@@ -0,0 +1,386 @@
+{
+  "case": "C004",
+  "composition": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/composition.json",
+  "composition_sha256": "1ba1f95b9b5f8c1416455cb4bf9151c9020cc13999dab9b8d9682cd5bd84a48e",
+  "base_composition": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/rebuilt_scenes_v1063/C004/composition.json",
+  "coffee_rows": 3193,
+  "appended_rows": 6453,
+  "deactivated": [
+    "/World/Assets/AirFryer",
+    "/World/Cutlery",
+    "/World/FoodTray",
+    "/World/MealDiverse"
+  ],
+  "include": [
+    "air_fryer",
+    "cake_frosted_white",
+    "cake_plain_yellow",
+    "meal_tray_large",
+    "paper_plate_task2"
+  ],
+  "navigation": {
+    "base_rows": 1850,
+    "first_walk_row": 3861,
+    "joints": {
+      "hold": "PhysicsFixedJoint",
+      "drive": "PhysicsPrismaticJoint",
+      "turn": "PhysicsRevoluteJoint"
+    }
+  },
+  "coffee_binding_root": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/rebuilt_scenes_v1063/C004",
+  "bean_start_index": 1416,
+  "own_no_timeout_install": {
+    "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/coffee_machine/process_rules.py": "721e0beb4a8664f3796617cb8a36baf65695716cc54062022a2040c6581b1427",
+    "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/coffee_machine/openended_composite_v1/composite.py": "03410eefba6cef0c18ad746e6458f26930055d22ac54efca32618751b8ee0414"
+  },
+  "c004_support": {
+    "installed": "support_C004_joined_v2765 (parity)",
+    "original_audit": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/server_continuation_v755/C004_stable2820/native1066/audit.json",
+    "support": "/World/Background/Shell/ConstructorKitchen/MetricScale/CornerGapBase300_B/Body/Worktop"
+  },
+  "template": {
+    "problems": [],
+    "blocks": {
+      "fryer_2_1": {
+        "first_row": 2930,
+        "last_row": 3946,
+        "source_rows": [
+          0,
+          1016
+        ],
+        "clamp_rows": [
+          3164,
+          3767
+        ],
+        "clamp_count": 604,
+        "rows_sha256": "9f0893b80cd6bdc875246a11d4e9970acb9584a75de8494859c8a34ebbad141b"
+      },
+      "fryer_2_3": {
+        "first_row": 4600,
+        "last_row": 4953,
+        "source_rows": [
+          1017,
+          1370
+        ],
+        "clamp_rows": null,
+        "clamp_count": 0,
+        "rows_sha256": "609781600132ff9df47e34c20028e1d28d644da5f76cf63b694427ddc8b08ccc"
+      },
+      "fryer_2_5": {
+        "first_row": 4954,
+        "last_row": 4972,
+        "source_rows": [
+          1371,
+          1389
+        ],
+        "clamp_rows": null,
+        "clamp_count": 0,
+        "rows_sha256": "72ce2bf3b5703650dc63af5889636c4d9c9a407b22f63f87f54fb2ada9b2fc98"
+      }
+    },
+    "template_sha256": "9f8f1b68ecf9d40455ba224d6c2cfd4de0b3b6176fa2932520e1818d11bfdea4",
+    "source": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/openend50_v1/samples/AF50-042/a2/commands.jsonl",
+    "source_sha256": "4b1dbb103fe97ab9d90330a7c7609a9539f3723e5db95aced64d69f39f9f9192",
+    "waived": {
+      "fryer_2_1": [
+        [
+          "l",
+          "cake"
+        ],
+        [
+          "r",
+          "handle"
+        ]
+      ],
+      "fryer_2_3": [
+        [
+          "r",
+          "handle"
+        ]
+      ]
+    },
+    "passed": true
+  },
+  "prefix_screen": {
+    "path": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/prefix_screen_check.json",
+    "checks": {
+      "coffee_21": true,
+      "tail": true,
+      "room_contacts": true,
+      "objects_still": true,
+      "scene": true,
+      "composition_sha": true,
+      "full_rows": true
+    }
+  },
+  "recorder_install": {
+    "patched": [
+      "coffee_startup_v1.install_instrumentation",
+      "room_contact_observer_v89.make_observer"
+    ],
+    "originals_kept": [
+      "coffee_startup_v1.install_instrumentation",
+      "task5_c004_observer.make"
+    ]
+  },
+  "g3_runtime_install": {
+    "base_rows": 1850,
+    "first_walk_row": 3861,
+    "rail_release145": true,
+    "patched": [
+      "arena_api.policy_execution.plan_interval"
+    ]
+  },
+  "motion_gate_g3": {
+    "prefix_rows": 3861,
+    "total_rows": 9646,
+    "certificate": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/cand_g3pilot_c2m/walk/walk_certificate.json",
+    "mode": "spot",
+    "spotcheck": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g3_v1/C004_S2814_S026_TK/walkspot_cand_g3pilot_c2m/walk_spotcheck.json",
+    "spot_summary": {
+      "rows": 4734,
+      "compared_rows": 3496,
+      "modelled_rows": 2155,
+      "unmodeled_rows": 1341,
+      "bprime_rows_skipped": 1238,
+      "failed_rows": 0,
+      "cert_mismatch_rows": 0,
+      "cert_mismatch_fraction": 0.0,
+      "cert_mismatch_below_3mm": 0,
+      "cert_systematically_untrusted": false,
+      "tolerance_m": 0.002,
+      "mismatches": 0,
+      "passed": true,
+      "bprime_row_violations": 0
+    },
+    "accepted": true
+  },
+  "g3_runtime_finish": {
+    "base": {
+      "walk_rows": 1850,
+      "switches": [
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+          "kind": "turn",
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+          "pose_unchanged": true
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+        {
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+        },
+        {
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+          "pose_unchanged": true
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+        {
+          "row": 4479,
+          "kind": "hold",
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+            7.450580596923828e-09,
+            -3.761670086532831e-09,
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+            0.00036269519478082657
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+          "pose_unchanged": true
+        },
+        {
+          "row": 5261,
+          "kind": "turn",
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+            -3.776222001761198e-09,
+            1.0,
+            0.0003626944962888956
+          ],
+          "pose_unchanged": true
+        },
+        {
+          "row": 5476,
+          "kind": "drive",
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+          "pose_unchanged": true
+        },
+        {
+          "row": 5659,
+          "kind": "turn",
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+            0.7145175933837891,
+            0.6996177434921265
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+          "pose_unchanged": true
+        },
+        {
+          "row": 5888,
+          "kind": "hold",
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+          "pose_unchanged": true
+        },
+        {
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+          "kind": "turn",
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+          "pose_unchanged": true
+        },
+        {
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+          "kind": "drive",
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+          "pose_unchanged": true
+        },
+        {
+          "row": 9174,
+          "kind": "turn",
+          "root_before": [
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+            0.70023512840271,
+            -0.7139124274253845
+          ],
+          "pose_unchanged": true
+        },
+        {
+          "row": 9392,
+          "kind": "hold",
+          "root_before": [
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+            -1.30385160446167e-07,
+            1.418447936885059e-07,
+            0.9999999403953552,
+            -0.0005077694077044725
+          ],
+          "pose_unchanged": true
+        }
+      ],
+      "unfinished_primitive": false,
+      "first_walk_row": 3861
+    },
+    "rail": {
+      "enabled": true,
+      "released": true,
+      "events": [
+        {
+          "physics_step": 95420,
+          "sim_time": 397.5833333333333,
+          "measured_stroke_m": 0.14500629830952017,
+          "threshold_m": 0.145,
+          "direct_pose_delta_m": 0.0,
+          "direct_velocity_delta": 0.0,
+          "pose_before": [
+            [
+              0.997510158379825,
+              -0.07052257390896967,
+              0.0002247182910178691,
+              2.7206194400787354
+            ],
+            [
+              0.07052251560920196,
+              0.9975101545549601,
+              0.0002575886054273136,
+              0.44870853424072266
+            ],
+            [
+              -0.00024232458866891725,
+              -0.00024109955141065695,
+              0.9999999415748984,
+              0.9199997186660767
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "velocity_before": [
+            0.04008093476295471,
+            0.026339644566178322,
+            -0.0028600324876606464,
+            -0.015369230881333351,
+            0.02636626549065113,
+            0.21780157089233398
+          ],
+          "mechanism": "stroke-triggered joint release; not geometry-only detachment"
+        }
+      ],
+      "substeps": 115992,
+      "note": "physics_step counts substeps from the first settle row; motion row = step // 12 - 20"
+    }
+  }
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000000/task5_recorder.json

@@ -0,0 +1,29 @@
+{
+  "instrumentation": {
+    "task5_contact_report_bodies": [
+      "/World/RoomEpisode/Fryer/Asset/Centered/Tray",
+      "/World/RoomEpisode/Fryer/Asset/Centered/Body",
+      "/World/RoomEpisode/CakeYellow/Asset/Object",
+      "/World/RoomEpisode/MealTray/Asset/Object",
+      "/World/RoomEpisode/CakeWhite/Asset/Object"
+    ],
+    "static_contact_roots": [
+      {
+        "root": "/World/RoomEpisode/FryerPlate",
+        "colliders": [
+          "/World/RoomEpisode/FryerPlate/Asset/Support"
+        ]
+      }
+    ],
+    "threshold": 0.0,
+    "layer": "session",
+    "physical_parameters_changed": false
+  },
+  "recorder": {
+    "substeps": 115992,
+    "rows_written": 9666,
+    "evidence_gaps": [],
+    "n_evidence_gaps": 0,
+    "complete": true
+  }
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000002/audit.json

@@ -0,0 +1,418 @@
+{
+  "status": "all_command_frames_planning_clear_NOT_PHYSICAL_ACCEPTANCE",
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+    "rail_limit_m": 0.1459999978542328,
+    "max_predicted_opening_m": 0.0,
+    "reopen_max_m": 0.14
+  },
+  "all_control_frames_checked": true,
+  "elapsed_s": 342.5927179120481,
+  "task5_template": {
+    "problems": [],
+    "blocks": {},
+    "template_sha256": "9f8f1b68ecf9d40455ba224d6c2cfd4de0b3b6176fa2932520e1818d11bfdea4",
+    "source": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/openend50_v1/samples/AF50-042/a2/commands.jsonl",
+    "source_sha256": "4b1dbb103fe97ab9d90330a7c7609a9539f3723e5db95aced64d69f39f9f9192",
+    "waived": {
+      "fryer_2_1": [
+        [
+          "l",
+          "cake"
+        ],
+        [
+          "r",
+          "handle"
+        ]
+      ],
+      "fryer_2_3": [
+        [
+          "r",
+          "handle"
+        ]
+      ]
+    },
+    "passed": true
+  },
+  "task5_coffee_inherited": {
+    "enabled": true,
+    "opening_fallbacks": 550,
+    "filtered_inherited_violations": 8683,
+    "original_audit": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/server_continuation_v755/C007_strong3026/native1066/audit.json",
+    "original_audit_sha256": "1c248cf1ba2a37cc984fdce889920ee5cb27cbec275932f76d482c734c87fadd",
+    "base_candidate_sha256": "248d666afbc39ef206204a16cfb1e2fbd6dc7de79ffa34931e8e83ca12106b3d",
+    "deactivated": [
+      "/World/Assets/AirFryer",
+      "/World/MealDiverse",
+      "/World/Cutlery",
+      "/World/FoodTray"
+    ],
+    "new_object_roots": [
+      "/World/RoomEpisode/Fryer",
+      "/World/RoomEpisode/CakeYellow",
+      "/World/RoomEpisode/CakeWhite",
+      "/World/RoomEpisode/FryerPlate",
+      "/World/RoomEpisode/MealTray"
+    ]
+  },
+  "task5_inherited": {
+    "from_original_audit": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/server_continuation_v755/C007_strong3026/native1066/audit.json",
+    "original_audit_sha256": "1c248cf1ba2a37cc984fdce889920ee5cb27cbec275932f76d482c734c87fadd",
+    "items": [
+      "dynamics_v693 passed=False",
+      "coffee v24 envelope order 1"
+    ]
+  },
+  "task5_adapter": {
+    "support_review_v172": false,
+    "c004_support": false,
+    "script": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/task5_g2a_v1/tools/audit_task5_v36.py",
+    "replacements": [
+      {
+        "old_sha256": "6143e0cb5c2e2bc0785ed52a4f5a4e3933c438adf46443187812f875efcb09c5",
+        "new_sha256": "d21317af032a176336af1986da3073c9c771c4451ba60e8c2037532e4a690a4e",
+        "old_head": "    assert a.case in ('C001','C018','C024','C040')\n"
+      },
+      {
+        "old_sha256": "ce4d3bbc41d6c3a3ab922deb1045c7687c554d5cf3da30d3d22d103443c4398c",
+        "new_sha256": "aab3501f75b1e134f5987c30d7e522af630fbd46dad6fe993d9d3ec9809172a6",
+        "old_head": "        for order in (1,2):\n            assert np.all(np.abs(np.diff(arr(rows),n=order,axis=0)).max(0)<=np.abs(np.diff(a"
+      },
+      {
+        "old_sha256": "5650576ff80a4f4097fe6aaf29e84846ae252cfaa9b5c5deda900e54daf349d1",
+        "new_sha256": "78f20826d019102ca48b03295e7ee2bc6998d59139952bb926acf51b5dd276e4",
+        "old_head": "    expected={'C001':T/'new_initials_v738/C001/initial0','C018':T/'fleet_grounded_v690/C018','C024':T/'fleet_grounded_v6"
+      },
+      {
+        "old_sha256": "5487cb6da4d083770c6285b40be4f95ff7491a18754850f5f37aa9df64110d7e",
+        "new_sha256": "0c2c40054bcec986431a3ae5ce54db3358b9bf645e038663f0e9c78ae200846a",
+        "old_head": "    repair=read(source/'binding.json')\n"
+      },
+      {
+        "old_sha256": "efacfd18a819ee37cc1bf2ac0f11a4c4c934b852781b2e4566f45f335fb8c169",
+        "new_sha256": "5b4ebfadee2fb9a94debbfc76b5568dc3d77d67cbfcc4503302750e38901e314",
+        "old_head": "        dynamics_path=candidate_path.parent/'dynamics_v693.json'\n        dynamics=read(dynamics_path)\n        assert dyn"
+      },
+      {
+        "old_sha256": "1045016bb0262a45966ad1e2e717cba456f6914d3fc672d962b5c1369e75d893",
+        "new_sha256": "941be370f8b5748f451450d9ec1ee884e78f6bf76a55b732c58352c8877ad81e",
+        "old_head": "        assert len(candidate['rows'])==2851 and candidate['control_hz']==20\n"
+      },
+      {
+        "old_sha256": "58390f067b9099527775f0871a0deb4094fdfbe891dff26667fdf97d0578d7a4",
+        "new_sha256": "a1d9300a4fc674908c83e4bb4b99c39f3f0d87dbd86be59add3f468161beee5f",
+        "old_head": "        for p in (source/'binding.json',baseline,dynamics_path,"
+      },
+      {
+        "old_sha256": "1d03410f631e141a9b2dd83f38735b053c7d623b44a8b9fd76f378c4a7865381",
+        "new_sha256": "08767d3a438766b2221730945edb2eb1689fe82b22655626318c2392dba79aa1",
+        "old_head": "        for ix,r in enumerate(rows):\n            q,tcp=configure(r);act=r['action'];stage,phase=r['stage'],r['phase']\n  "
+      },
+      {
+        "old_sha256": "37f41655906481b6d1811bf962c3355482c6efeedacb259668417e763ddfedb4",
+        "new_sha256": "d0877e1445304d34c2f594601009574dbbeaa117c2563e04ce2dc25743aee12c",
+        "old_head": "        result['place_grip_geometry']="
+      }
+    ],
+    "original": "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/audit_parallel_fleet_v1058.py",
+    "original_sha256": "1ea6a7f31909e0a1738d634c8c429eb1bad9acee8ab2487ea4355f95a2d4ef4b"
+  }
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000002/base_exec_summary.json

@@ -0,0 +1,175 @@
+{
+ "walk_rows": 1756,
+ "switches": [
+  {
+   "row": 4752,
+   "kind": "turn",
+   "root_before": [
+    3.880354881286621,
+    0.3488999307155609,
+    -3.725290298461914e-09,
+    0.0,
+    -1.4084946542425314e-09,
+    -0.016661152243614197,
+    0.9998612999916077
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 4962,
+   "kind": "drive",
+   "root_before": [
+    3.880354881286621,
+    0.3488999605178833,
+    5.960464477539063e-08,
+    3.073364496231079e-08,
+    -3.000604920089245e-08,
+    -0.6880493760108948,
+    0.7256641387939453
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 5210,
+   "kind": "turn",
+   "root_before": [
+    3.9485902786254883,
+    -0.9324736595153809,
+    2.60770320892334e-08,
+    3.5390257835388184e-08,
+    -2.8125214157626033e-08,
+    -0.6880492568016052,
+    0.7256641387939453
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 5294,
+   "kind": "hold",
+   "root_before": [
+    3.9485902786254883,
+    -0.9324735403060913,
+    2.2351741790771484e-08,
+    6.705522537231445e-08,
+    2.374508767388761e-08,
+    -0.7068037986755371,
+    0.7074097990989685
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 6185,
+   "kind": "turn",
+   "root_before": [
+    3.9485902786254883,
+    -0.9324735403060913,
+    8.568167686462402e-08,
+    7.078051567077637e-08,
+    2.0983861759305e-08,
+    -0.7068036794662476,
+    0.7074098587036133
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 6397,
+   "kind": "drive",
+   "root_before": [
+    3.9485902786254883,
+    -0.9324734210968018,
+    7.450580596923828e-08,
+    6.705522537231445e-08,
+    5.665788194164634e-08,
+    -0.9995879530906677,
+    0.02870842069387436
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+   "pose_unchanged": true
+  },
+  {
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+   "kind": "turn",
+   "root_before": [
+    3.331738233566284,
+    -0.9679349660873413,
+    -2.2351741790771484e-08,
+    6.705522537231445e-08,
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+    -0.9995879530906677,
+    0.028708428144454956
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 6793,
+   "kind": "hold",
+   "root_before": [
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+    -2.60770320892334e-08,
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+    -0.659879744052887,
+    0.7513713836669922
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+   "pose_unchanged": true
+  },
+  {
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+   "kind": "turn",
+   "root_before": [
+    3.331738233566284,
+    -0.9679348468780518,
+    2.9802322387695312e-08,
+    7.543712854385376e-08,
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+    -0.6598796844482422,
+    0.751371443271637
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+   "pose_unchanged": true
+  },
+  {
+   "row": 9503,
+   "kind": "drive",
+   "root_before": [
+    3.331738233566284,
+    -0.9679348468780518,
+    4.470348358154297e-08,
+    5.605397745966911e-08,
+    -6.649088390986435e-09,
+    0.027878418564796448,
+    0.999611496925354
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 9677,
+   "kind": "turn",
+   "root_before": [
+    3.9466476440429688,
+    -0.9336094260215759,
+    1.2665987014770508e-07,
+    5.78584149479866e-08,
+    -1.0541043593548238e-09,
+    0.027878422290086746,
+    0.999611496925354
+   ],
+   "pose_unchanged": true
+  },
+  {
+   "row": 9898,
+   "kind": "hold",
+   "root_before": [
+    3.9466476440429688,
+    -0.9336094260215759,
+    2.1606683731079102e-07,
+    5.960464477539063e-08,
+    7.271228241734207e-08,
+    -0.7067732214927673,
+    0.7074403166770935
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+   "pose_unchanged": true
+  }
+ ],
+ "unfinished_primitive": false,
+ "first_walk_row": 4752
+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000002/bean_tracking.json

@@ -0,0 +1,411 @@
+{
+  "case": "C007",
+  "expected_count": 100,
+  "start_index": 1529,
+  "machine_world": [
+    [
+      -3.77906292319286e-08,
+      0.0,
+      -0.9999999999999993,
+      4.689933215879163
+    ],
+    [
+      -0.9999999999999996,
+      0.0,
+      3.779062925566847e-08,
+      0.41920014873711464
+    ],
+    [
+      -3.055725420054862e-17,
+      1.0,
+      1.0459302524853645e-24,
+      0.92
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "centre_low": [
+    -0.08610500395298004,
+    0.21049999980628498,
+    -0.07073148458523083
+  ],
+  "centre_high": [
+    0.01715072051951096,
+    0.27069822119946085,
+    0.049554999917746034
+  ],
+  "physical_verified": false,
+  "current_scene_bound": true,
+  "scope": "Nominal diagnostic reference box only, NOT containment or copied physical evidence. Fresh native tracks all100 finite identities every required substep under unchanged original contacts.",
+  "source_sha256": {
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/continuous_candidate_v24/candidate.json": "0c6f2d31e78960f4c9185fdc8086148fed0615efeca016451db0825ef684050e",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/queue_preflight_v41/scenes/C022/composition.json": "7e916bc5c154ce818a9617177a665db4126ee89e1aed6ca296b11b1d4910167b",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/queue_preflight_v41/scenes/C022/room.usdc": "98035f7d70bfd91b40571a95e6bb1fd5f49d81eb8d9ad5833eeb858678634284",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_replay_v27/native_initial.usdc": "c0f79f6c91eb07b7ffae611b63087eb61055685d9267db0f1adfada8e012db2b",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_replay_v27/report.json": "35441b11c382820f61ddc9856553b3397eeca1d2f2fb4c3e58cbc1d42e9ccd43",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/retarget_case_v43.py": "c696bd5882d003ca722aaf459cb85f1476f3a4c59491488b42ed558c5e67266b",
+    "/home/lingjun/coffee-workspace/coffee_task_workbench_20260922/cup_place/kinematics.py": "ca3c29df8882415765d0c03477686d084d0ef90cedeaa34c2f1c85b086169a66",
+    "/home/lingjun/coffee-workspace/coffee_task_workbench_20260922/cup_place/robot_model.json": "d341fa8d7bde71a04ca5f63996c9f9440e53d91843451a0a78c7f770b9d09389",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/station_repair_C022_v47/composition.json": "3f22c8ed2196c696630586211875f73a11a7578c8f808f7e9121b05dc012f2cc",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/station_repair_C022_v47/room.usdc": "7d7a21391e33f576d86b5ac77c447ffef75cd02bb89e0a642b4990b02c3e8747",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/station_repair_C022_v47/candidate.json": "1f1b925e5b471f5324b733142b5efa18553c25aa8d1ccdf219878be8ccfd8327",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/grasp_pose_C022_v64/search.json": "3bbe83f3dc6b173c17eb0c4bf1d7c89231b28cf97557e3c4b5a2e4ac52d87b62",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_grasp_path_v65.py": "55f4353cbb2f435f559f48aff338305ae42a4cdae8804f52c0ae2544d800d6db",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/local_motion_context_v62.py": "3829b004df520c50f75030d97fedb7e852beb79659324670fa5889dbcd8cce4a",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/grasp_path_C022_v65/candidate.json": "1b1276d400b017abe0762fb08a94fd58f1f3277b2fec13fe53749ce9cbb52f84",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_preclose_v69.py": "17f5b6a732f6ae93187fe631fcb308fe05e437a2cda2aa6e45e42ff1f8d555d7",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/preclose_C022_v69/opening_400mrad/candidate.json": "8b7335f57a8d3ab7605c942f704ac7b0d49bf4664db3b9514e092738cb2c4cd5",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_repaired_C022_v72/report.json": "83bc4ef1b127426ba808fecbcb015cd84993c073c568c46e2e9370c218ed9942",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_repaired_C022_v72/frames.jsonl": "4f9648650814f9d9e8d05b92f76b5abaf825f59e0789052a57e7ba6f08715b09",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/native_repaired_C022_v72/native_initial.usdc": "ecad880a03b31d72276e0cb199ecde8cf1dbcaefe17d66847e92f4dcb7e32df7",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_landing_v76.py": "6c16038057d4fa26606de2c3b96e4b35da7814c5d3a00f84272b6811c162aa92",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_release_v90.py": "127ccbaa6a51dc37ddec7367e5f314cbf760c95b493a8ce5e65708284012c9c4",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/landing_C022_v76/candidate.json": "4f04aecf500db6cec2ca8962d882b77ff05ff7bdde16b1e061dc39c08b3e0fa1",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_gripper_closure_v88.py": "bae4e7ef62a1f4855478a6c73ff2edbd9ab82cdd8dd8c98ece915228dd72c2e4",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_landing_v79.py": "0db2e9f6ed4029e956f24d7dd169be617449f69c17d6bfa125ad01ecd36c846b",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_release_timing_v100.py": "f530a4b2abd221c7b51075c763c8d980412709a870a698b262fe59bf9f2ce8c1",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/repair_release_v93.py": "f7d37d513b2ab2f5962c78dc123cedcfca2f246030f736d6bc6cb6fb5ca54582",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/report.json": "ba988b58aa70b050b63d23276185655c88cbed532f50ff9ea72084ee21134177",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/request.json": "a26f62e62840b3a4c556cbad7802dbf228a3c39baab33fdf3123fbf755610aed",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/frames.jsonl": "a3f9233d6d845257afa9099fca9ed7a33ff22991984dd3af0e107976992d1a66",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/room_contacts.json": "5cd4f6240c641b4dea51cff7acf8814355c25cdb7f5eee93f0a16dcf0aeef2ce",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/native/native_initial.usdc": "35f94faa6c14d507fedb526582d362f7309a936f4051dd68887c664f47eb4187",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/feedback_queue_v96/C022_trial1/candidate/candidate.json": "04c0cd8b4d5d25e3c728859d2dcab82923948577ad4386f24ac6f3b253a4c4ed",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/contact_repair_C022_v90/native/request.json": "8cac06cb127500b76f7bae9611b3d068ee090792c176958d528d0a194a86f769",
+    "/home/lingjun/robot_agent_arena/coffee_continuous50_v1/contact_repair_C022_v90/candidate.json": "bc3f9adeac62cab3d7715f8acd45d489c3f62b1b7790ca63256b6f63d2755a78",
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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000002/final_pose.json

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auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000002/initial_acceptance.json

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+}

auxiliary/retained5080/auxiliary/long7_recorded_state_rerender/auxiliary/native_long7_sources/episode_000002/mesh.json

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