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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/recovery_evidence/native_alignment.json

@@ -0,0 +1,63 @@
+{
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+  "frames": 14955,
+  "source_dir": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_06",
+  "native_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_06/sim_info/episode_000000/recording_60hz.npz",
+  "native_rows": 44867,
+  "native_tick_match_exact": true,
+  "native_indices_phase2_exact": true,
+  "applied_joint_commands_exact_source_cast": true,
+  "applied_base_commands_exact_source_cast": true,
+  "measured_joint_states_exact_source_cast": true,
+  "measured_xy_exact_source_cast": true,
+  "measured_yaw_max_error_rad": 1.918873635986529e-06,
+  "source_times_exact": false,
+  "source_time_max_error": 0.63336181640625,
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+  "source_clock_offset_ptp_s": 4.8828125045474735e-05,
+  "source_parquet_clock_dtype": "float",
+  "source_native_clock": {
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+    "physics_hz": 240,
+    "control_hz": 60,
+    "training_hz": 20,
+    "substeps_per_control": 4,
+    "unrecorded_preroll_physics_steps": 152,
+    "unrecorded_preroll_duration_s": 0.6333333333333333,
+    "retained_control_rows": 44867,
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+    "retained_timestamp_formula": "(row_index+1)/60",
+    "retained_first_post_step_global_physics_step": 156,
+    "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)",
+    "retained_camera_row_formula": "control_tick % 3 == 0",
+    "retained_camera_frame_count": 14955,
+    "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.",
+    "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded."
+  },
+  "native_fields": [
+    "q",
+    "native_target",
+    "dof_names",
+    "base_action_body",
+    "base_pose",
+    "target_pose",
+    "target_paths",
+    "target_initial_pose",
+    "target_pose_all",
+    "active_target_path",
+    "item_index",
+    "phase",
+    "timestamp",
+    "nav_constraint_mode",
+    "nav_constraint_pose",
+    "tick",
+    "joint_velocity",
+    "robot_link_paths",
+    "robot_link_pose"
+  ]
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/recovery_evidence/original_source_location.json

@@ -0,0 +1,8 @@
+{
+  "source_host": "l1",
+  "source_dataset_dir_original": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_06",
+  "cache_source_dir": "/workspace/alienware/datasets/robotagentbench-open-20261025/sources/l01_original10_recovered/staged_datasets/layout_06",
+  "quality_filter_applied": false,
+  "physical_qualification_upgraded": false,
+  "source_owner_files_modified": false
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json

@@ -0,0 +1,34 @@
+{
+  "schema": "multi_camera_extrinsics_audit_v1",
+  "passed": true,
+  "checks": {
+    "camera_order": true,
+    "shape": true,
+    "control_tick_mapping": true,
+    "timestamp_mapping": true,
+    "global_step_mapping": true,
+    "finite": true,
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+    "rigid_rotation": true,
+    "rigid_mount_alignment": true
+  },
+  "failures": [],
+  "frames": 14955,
+  "rotation_orthogonality_max_error": 1.9984014443252818e-15,
+  "rotation_determinant_max_error": 2.220446049250313e-15,
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+  },
+  "camera_extrinsics_sha256": "3d0ebfec1e7df3152e652ef804d139d7905e4cf01ff891e9abe4ed816957f66f"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CAMERA_WARMUP.json

@@ -0,0 +1,21 @@
+{
+  "status": "PASSED",
+  "after_physics_stability": true,
+  "discarded_render_reads": 3,
+  "render_only_warmups": 12,
+  "unrecorded_hold_samples": 3,
+  "captured_frames": 0,
+  "final_stability_window": {
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+    "prop_rotation_span_rad": 0.0001696753028943989,
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+    "camera_link_rotation_span_rad": 1.0016506908417487e-05,
+    "driven_robot_link_translation_span_m": 5.757944429270421e-06,
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+    "joint_speed_max": 0.019213145598769188,
+    "passive_finger_max_projected_motion_px": 0.14991525138164696
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json

@@ -0,0 +1,74 @@
+{
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+  "passed": true,
+  "checks": {
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+    "status": true,
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+    "no_captured_warmup_frames": true,
+    "final_prop_stable": true,
+    "final_camera_stable": true,
+    "final_driven_stable": true,
+    "startup_frame_set": true,
+    "startup_frames_nonempty": true
+  },
+  "failures": [],
+  "receipt": {
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+    }
+  },
+  "receipt_sha256": "89ba43c0c48b0560c3af5194ed4cc0e0fe241ef947dfc895d1d9867c6c693471",
+  "startup_frame_sha256": {
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json

@@ -0,0 +1,9 @@
+{
+  "accepted": false,
+  "acceptance_basis": "native_task_checks_pending_user_review",
+  "native_task_checks_passed": true,
+  "strict_diagnostic_failures_retained": true,
+  "automatic_physics_certification_claimed": false,
+  "manual_visual_review_required": true,
+  "export_script_sha256": "db4be09f858a48ea0ca46620f7bbe5341763001574633e9432b7c483647747b4"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CARRY_PLAN.item_00.json

@@ -0,0 +1,45 @@
+{
+  "policy": "precision_body_route_v2",
+  "waist_lift_m": 0.55,
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.3
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+  "exit_distance_m": 0.15,
+  "route_search": {
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+    "seconds": 19.670810450799763
+  },
+  "failures": [
+    {
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+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "distance": 0.55,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "distance": 0.75,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    }
+  ],
+  "planning_seconds": 33.85968135623261,
+  "preflight_only": true,
+  "full_native_audit_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CARRY_PLAN.item_01.json

@@ -0,0 +1,45 @@
+{
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+  "posture": {
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+    "hand_height_change_m": -0.3
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+  "exit_distance_m": 0.15,
+  "route_search": {
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+    "seconds": 2.895190108101815
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+  "failures": [
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+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
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+      "stage": "reverse",
+      "detail": {
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+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
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+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    }
+  ],
+  "planning_seconds": 19.055057229008526,
+  "preflight_only": true,
+  "full_native_audit_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CARRY_PLAN.item_02.json

@@ -0,0 +1,45 @@
+{
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+  "posture": {
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+    "hand_height_change_m": -0.3
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+  "route_search": {
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+    "seconds": 11.12011659797281
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+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "distance": 0.55,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "distance": 0.75,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    }
+  ],
+  "planning_seconds": 24.590719289146364,
+  "preflight_only": true,
+  "full_native_audit_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CARRY_PLAN.item_03.json

@@ -0,0 +1,45 @@
+{
+  "policy": "precision_body_route_v2",
+  "waist_lift_m": 0.55,
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.3
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+  "exit_distance_m": 0.15,
+  "route_search": {
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+    "seconds": 0.6279787020757794
+  },
+  "failures": [
+    {
+      "distance": 0.35,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "distance": 0.55,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "distance": 0.75,
+      "stage": "reverse",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    }
+  ],
+  "planning_seconds": 15.785959494765848,
+  "preflight_only": true,
+  "full_native_audit_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CASE6_ITEM03_FOCUSED_CURRENT_APERTURE_PROPOSAL.json

@@ -0,0 +1,1338 @@
+{
+  "schema": "multi_item.polar_full_place.v1",
+  "read_only": true,
+  "layout_id": 6,
+  "item_index": 3,
+  "status_at_probe": {
+    "status": "WAITING_FOR_PLANNING_REPAIR",
+    "phase": "item_03_place_planning",
+    "item_index": 3,
+    "completed_objects": [
+      "/World/Assets/ShelfItems/grapefruit_can",
+      "/World/Assets/Tier2Items/oreo_gf",
+      "/World/Assets/ShelfItems/coke_c3"
+    ],
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CASE6_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json

@@ -0,0 +1,514 @@
+{
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+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 22,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 23,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 24,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 25,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 26,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 27,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 28,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 29,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 30,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 31,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 32,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 33,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 34,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 35,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 36,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 37,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 38,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 39,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 40,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 41,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 42,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 43,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 44,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 45,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 46,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 47,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 48,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 49,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 50,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 51,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 52,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    },
+    {
+      "rank": 53,
+      "stage": "destination",
+      "detail": {
+        "kind": "environment",
+        "robot_or_target": "/World/Robot/base_link",
+        "obstacle": "/World/Assets/CoffeeTable/Mesh"
+      }
+    }
+  ],
+  "native_validation_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CASE6_ITEM03_POLAR_FULL_PROPOSAL.json

@@ -0,0 +1,196 @@
+{
+  "schema": "multi_item.polar_full_place.v1",
+  "read_only": true,
+  "layout_id": 6,
+  "item_index": 3,
+  "status_at_probe": {
+    "status": "WAITING_FOR_PLANNING_REPAIR",
+    "phase": "item_03_place_planning",
+    "item_index": 3,
+    "completed_objects": [
+      "/World/Assets/ShelfItems/grapefruit_can",
+      "/World/Assets/Tier2Items/oreo_gf",
+      "/World/Assets/ShelfItems/coke_c3"
+    ],
+    "control_ticks": 39155,
+    "updated": 1791294744.0443482,
+    "base_pose": [
+      -1.8587335348129272,
+      1.2726833820343018,
+      0.001367185264825821,
+      9.313225746154785e-10,
+      -8.003553375601768e-11,
+      -0.7023452520370483,
+      0.7118366360664368
+    ],
+    "target_pose": [
+      -1.6446272134780884,
+      0.6290783882141113,
+      0.6604787111282349,
+      -0.13897082209587097,
+      0.031041523441672325,
+      0.8413227796554565,
+      0.5214399695396423
+    ],
+    "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.014422095573214146, 0.06736048535131021]}, {'candidate': 1, 'stage': 'landing', 'error': [0.008360803647097029, 0.038895366857412315]}, {'candidate': 2, 'stage': 'world_collision', 'frame': 77, 'detail': {'kind': 'environment', 'robot_or_target': '/World/Assets/Tier2Items/pring_bbq', 'obstacle': '/World/Assets/ShelfItems/coke_c3/col0'}}, {'candidate': 135, 'stage': 'landing', 'error': [0.1746009066938193, 0.9391487108032581]}, {'candidate': 136, 'stage': 'landing', 'error': [0.16063621393424599, 0.8386764224545851]}, {'candidate': 137, 'stage': 'landing', 'error': [0.1699984060864148, 0.9019022047349591]}]\")",
+    "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/repairs/item_03_place.json"
+  },
+  "evidence": {
+    "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT06_ITEM03_POLAR_ENDPOINT.json",
+    "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/rollout/checkpoint_60hz.npz"
+  },
+  "accepted": null,
+  "attempts": [
+    {
+      "rank": 0,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 180, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 180, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 180, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.0035468654529315037), np.float64(0.016402038037574347)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.16369897216645438), np.float64(0.8686291740174784)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.1813488542130195), np.float64(1.0741897585276694)]}]\")"
+    },
+    {
+      "rank": 1,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 180, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 180, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 180, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.003546865452931782), np.float64(0.016402038037575575)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.16369897216645424), np.float64(0.86862917401748)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.18134885421301972), np.float64(1.0741897585276703)]}]\")"
+    },
+    {
+      "rank": 2,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02285732693757852), np.float64(0.09355424985216937)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022857327398543213), np.float64(0.09355424702657811)]}, {'candidate': 0, 'stage': 'path', 'frame': 62, 'error': [np.float64(0.002556623054491544), np.float64(0.010895743449147541)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.11343423604774792), np.float64(0.6595256705157315)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.020538874572010823), np.float64(0.09855096142692994)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.16888763753078667), np.float64(0.9547262226877411)]}]\")"
+    },
+    {
+      "rank": 3,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.018199569706463616), np.float64(0.08013019439980656)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.018199569459516965), np.float64(0.08013019578653932)]}, {'candidate': 0, 'stage': 'path', 'frame': 67, 'error': [np.float64(0.002455059991777397), np.float64(0.010958616794590953)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.052312885774078124), np.float64(0.2355699788561351)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.1470936788839353), np.float64(0.7270216246585223)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.2430502868494757), np.float64(1.2116771651396827)]}]\")"
+    },
+    {
+      "rank": 4,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 140, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 140, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 140, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.09148898523964774), np.float64(0.3772982258667927)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.2067580008327017), np.float64(0.9297850901488978)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3182663367806266), np.float64(1.4311807105161887)]}]\")"
+    },
+    {
+      "rank": 5,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.049266168601374054), np.float64(0.1558718295513508)]}, {'candidate': 0, 'stage': 'path', 'frame': 66, 'error': [np.float64(0.002068552065429673), np.float64(0.00665900704363211)]}, {'candidate': 0, 'stage': 'path', 'frame': 44, 'error': [np.float64(0.0021673890054866554), np.float64(0.006977505798308062)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1190543828662194), np.float64(0.5345702883864596)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.2234139712433376), np.float64(1.008054561171162)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.2940729367316733), np.float64(1.3268837069380646)]}]\")"
+    },
+    {
+      "rank": 6,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.00204563534796945), np.float64(0.007726262050087323)]}, {'candidate': 0, 'stage': 'path', 'frame': 21, 'error': [np.float64(0.002228477265643407), np.float64(0.008419889502614594)]}, {'candidate': 0, 'stage': 'path', 'frame': 16, 'error': [np.float64(0.0021091220705783233), np.float64(0.007968179344701136)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1073403035777279), np.float64(0.4835772233127002)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.15005141854890902), np.float64(0.768638068980152)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.24383001028925258), np.float64(1.149312603798606)]}]\")"
+    },
+    {
+      "rank": 7,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022857326937578176), np.float64(0.09355424985217159)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02285732739854543), np.float64(0.09355424702656472)]}, {'candidate': 0, 'stage': 'path', 'frame': 62, 'error': [np.float64(0.0025566230544917055), np.float64(0.010895743449147158)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.11343423604774776), np.float64(0.6595256705157319)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.020538874572010903), np.float64(0.09855096142693008)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.16888763753078695), np.float64(0.9547262226877417)]}]\")"
+    },
+    {
+      "rank": 8,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.018199569706463088), np.float64(0.08013019439980985)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.018199569459517832), np.float64(0.08013019578653476)]}, {'candidate': 0, 'stage': 'path', 'frame': 67, 'error': [np.float64(0.0024550599917775337), np.float64(0.010958616794590802)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.05231288577407808), np.float64(0.23556997885613512)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.14709367888393535), np.float64(0.7270216246585228)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.24305028684946453), np.float64(1.2116771651397371)]}]\")"
+    },
+    {
+      "rank": 9,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 140, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 140, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 140, 'detail': {'kind': 'released_target_robot', 'phase': 'opening', 'sample': 8, 'target': '/World/Assets/Tier2Items/pring_bbq', 'robot': '/World/Robot/gripper_l_inner_link2'}}}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.0914889852396554), np.float64(0.3772982258667456)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.206758000832702), np.float64(0.929785090148898)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.31826633678063015), np.float64(1.4311807105161696)]}]\")"
+    },
+    {
+      "rank": 10,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.049266168601374144), np.float64(0.1558718295513512)]}, {'candidate': 0, 'stage': 'path', 'frame': 66, 'error': [np.float64(0.0020685520654295446), np.float64(0.0066590070436329625)]}, {'candidate': 0, 'stage': 'path', 'frame': 44, 'error': [np.float64(0.002167389005486884), np.float64(0.006977505798308614)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1190543828662193), np.float64(0.5345702883864587)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.22341397124333753), np.float64(1.0080545611711618)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.2940729367316733), np.float64(1.3268837069380637)]}]\")"
+    },
+    {
+      "rank": 11,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0020456353479696076), np.float64(0.007726262050087078)]}, {'candidate': 0, 'stage': 'path', 'frame': 21, 'error': [np.float64(0.0022284772656431394), np.float64(0.008419889502614571)]}, {'candidate': 0, 'stage': 'path', 'frame': 16, 'error': [np.float64(0.002109122070578144), np.float64(0.007968179344700878)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1073403035777279), np.float64(0.4835772233127002)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.15005141854890902), np.float64(0.768638068980152)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.24383001028925258), np.float64(1.149312603798606)]}]\")"
+    },
+    {
+      "rank": 12,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.002044644426144613), np.float64(0.009065147559801014)]}, {'candidate': 0, 'stage': 'path', 'frame': 22, 'error': [np.float64(0.0021307377714415276), np.float64(0.009445918579843544)]}, {'candidate': 0, 'stage': 'path', 'frame': 17, 'error': [np.float64(0.0021380696887514524), np.float64(0.00947828636797616)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.09891979819518608), np.float64(0.5290851407256852)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.051531297418768496), np.float64(0.23064303140903797)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.233578090649356), np.float64(1.1888906941209023)]}]\")"
+    },
+    {
+      "rank": 13,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020446444261446473), np.float64(0.009065147559801187)]}, {'candidate': 0, 'stage': 'path', 'frame': 22, 'error': [np.float64(0.0021307377714414365), np.float64(0.009445918579844233)]}, {'candidate': 0, 'stage': 'path', 'frame': 17, 'error': [np.float64(0.0021380696887514307), np.float64(0.009478286367975897)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.09891979819518622), np.float64(0.5290851407256839)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.05153129741876855), np.float64(0.23064303140903733)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.23357809064935578), np.float64(1.1888906941209028)]}]\")"
+    },
+    {
+      "rank": 14,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 53, 'error': [np.float64(0.0020887081505339207), np.float64(0.00931113623720521)]}, {'candidate': 0, 'stage': 'path', 'frame': 23, 'error': [np.float64(0.0020424197492328235), np.float64(0.009104521136479258)]}, {'candidate': 0, 'stage': 'path', 'frame': 18, 'error': [np.float64(0.002153322539375971), np.float64(0.009599560378636995)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.11745518594922288), np.float64(0.6040816561133695)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.0854014717979345), np.float64(0.45890977786785947)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.19386433623797433), np.float64(1.0234723011078142)]}]\")"
+    },
+    {
+      "rank": 15,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.031809796425175674), np.float64(0.12411827306247879)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.031815324483772306), np.float64(0.12408286417707975)]}, {'candidate': 0, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0027391140723425954), np.float64(0.010352953825120036)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.18009770902828912), np.float64(0.7881191817327515)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.19700395769782642), np.float64(0.8392969550013517)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3433227862521866), np.float64(1.542211770755865)]}]\")"
+    },
+    {
+      "rank": 16,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 107, 'error': [np.float64(0.002034251923771998), np.float64(0.008600442492119695)]}, {'candidate': 0, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.002281672896847328), np.float64(0.00964928753785883)]}, {'candidate': 0, 'stage': 'path', 'frame': 30, 'error': [np.float64(0.0020658073700067993), np.float64(0.008734027801677412)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.13999316302415615), np.float64(0.6229856380146753)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.14232801731446681), np.float64(0.641335345428983)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.2721010885053046), np.float64(1.2296063331223064)]}]\")"
+    },
+    {
+      "rank": 17,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 53, 'error': [np.float64(0.0020887081505340196), np.float64(0.00931113623720567)]}, {'candidate': 0, 'stage': 'path', 'frame': 23, 'error': [np.float64(0.0020424197492328114), np.float64(0.009104521136479317)]}, {'candidate': 0, 'stage': 'path', 'frame': 18, 'error': [np.float64(0.00215332253937588), np.float64(0.009599560378636917)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.11745518594922276), np.float64(0.6040816561133697)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.0854014717979345), np.float64(0.4589097778678591)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.19386433623797417), np.float64(1.0234723011078144)]}]\")"
+    },
+    {
+      "rank": 18,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03180979642517734), np.float64(0.12411827306246875)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.031815324483789355), np.float64(0.1240828641769695)]}, {'candidate': 0, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.002739114072342806), np.float64(0.010352953825119358)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.18009770902828912), np.float64(0.7881191817327515)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.19700395769782642), np.float64(0.8392969550013517)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3433227862521866), np.float64(1.542211770755865)]}]\")"
+    },
+    {
+      "rank": 19,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 107, 'error': [np.float64(0.0020342519237721104), np.float64(0.008600442492119997)]}, {'candidate': 0, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.002281672896847246), np.float64(0.009649287537859735)]}, {'candidate': 0, 'stage': 'path', 'frame': 30, 'error': [np.float64(0.002065807370006942), np.float64(0.008734027801678099)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.13999316302415624), np.float64(0.6229856380146754)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.14232801731446662), np.float64(0.6413353454289844)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.27210108850530423), np.float64(1.2296063331223086)]}]\")"
+    },
+    {
+      "rank": 20,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01697198585510333), np.float64(0.07343573445217282)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01697198805735924), np.float64(0.07343572171177061)]}, {'candidate': 0, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.002108098033287231), np.float64(0.008980311237811574)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.17515161796163778), np.float64(0.7830201560421359)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.08455135174997346), np.float64(0.4105647110087667)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.23802321480039756), np.float64(1.1345398510644589)]}]\")"
+    },
+    {
+      "rank": 21,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.004107475662810393), np.float64(0.015831143931294155)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.004107479912151983), np.float64(0.015831116415349258)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0041074781155038854), np.float64(0.015831128052505243)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.19044647133088594), np.float64(0.8585973821073899)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.1475827528113123), np.float64(0.6609389949122871)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3078274256013793), np.float64(1.3879771294478591)]}]\")"
+    },
+    {
+      "rank": 22,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.016971985855104017), np.float64(0.0734357344521676)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.016971988057358795), np.float64(0.0734357217117714)]}, {'candidate': 0, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.002108098033287098), np.float64(0.00898031123781094)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.17515161796163778), np.float64(0.7830201560421378)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.08455135174997372), np.float64(0.410564711008767)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.2380232148004002), np.float64(1.1345398510644469)]}]\")"
+    },
+    {
+      "rank": 23,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0041074756628102765), np.float64(0.015831143931293253)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.004107479912151931), np.float64(0.01583111641534815)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.004107478115503792), np.float64(0.0158311280525051)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.190446471330886), np.float64(0.8585973821073908)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.1475827528113126), np.float64(0.6609389949122849)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.30782742560137866), np.float64(1.3879771294478622)]}]\")"
+    },
+    {
+      "rank": 24,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0020244523874892394), np.float64(0.009052435221245552)]}, {'candidate': 0, 'stage': 'path', 'frame': 34, 'error': [np.float64(0.0021428316357193604), np.float64(0.009582393776178267)]}, {'candidate': 0, 'stage': 'path', 'frame': 26, 'error': [np.float64(0.002394851103863942), np.float64(0.010710859074740455)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.12116536838715303), np.float64(0.6244753897686345)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.08046363413459465), np.float64(0.4304642327485585)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.1936478287532784), np.float64(1.0235769482467894)]}]\")"
+    },
+    {
+      "rank": 25,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0269470643683573), np.float64(0.10633859810213381)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02694729159988521), np.float64(0.10633715926001101)]}, {'candidate': 0, 'stage': 'path', 'frame': 58, 'error': [np.float64(0.002227557148311093), np.float64(0.008544196272417474)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.18548195148726768), np.float64(0.8122776605099175)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.1910963281636526), np.float64(0.811623825783791)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3444017798279021), np.float64(1.5475252989689139)]}]\")"
+    },
+    {
+      "rank": 26,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04829890014691169), np.float64(0.21380476911199642)]}, {'candidate': 0, 'stage': 'path', 'frame': 48, 'error': [np.float64(0.0021275354367992043), np.float64(0.009064720341411535)]}, {'candidate': 0, 'stage': 'path', 'frame': 35, 'error': [np.float64(0.0023841413823791867), np.float64(0.010161117936706352)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.14457774271170068), np.float64(0.6435633631506043)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.13652462586113562), np.float64(0.615418481799884)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.2726504984540566), np.float64(1.233994333600468)]}]\")"
+    },
+    {
+      "rank": 27,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0020244523874891843), np.float64(0.009052435221245596)]}, {'candidate': 0, 'stage': 'path', 'frame': 34, 'error': [np.float64(0.0021428316357191167), np.float64(0.00958239377617833)]}, {'candidate': 0, 'stage': 'path', 'frame': 26, 'error': [np.float64(0.002394851103863952), np.float64(0.010710859074740283)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.12116536838715304), np.float64(0.6244753897686341)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.08046363413459443), np.float64(0.4304642327485596)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.19364782875327843), np.float64(1.0235769482467896)]}]\")"
+    },
+    {
+      "rank": 28,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.026947064368357216), np.float64(0.10633859810213435)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.026947291599886746), np.float64(0.10633715926000142)]}, {'candidate': 0, 'stage': 'path', 'frame': 58, 'error': [np.float64(0.0022275571483109974), np.float64(0.00854419627241756)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.18548195148726795), np.float64(0.812277660509917)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.1910963281635214), np.float64(0.8116238257845653)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.34440177982790215), np.float64(1.547525298968914)]}]\")"
+    },
+    {
+      "rank": 29,
+      "stage": "placement",
+      "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04829890014690599), np.float64(0.21380476911203017)]}, {'candidate': 0, 'stage': 'path', 'frame': 48, 'error': [np.float64(0.002127535436799326), np.float64(0.009064720341411453)]}, {'candidate': 0, 'stage': 'path', 'frame': 35, 'error': [np.float64(0.0023841413823794885), np.float64(0.010161117936706862)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.14457774271170057), np.float64(0.6435633631506054)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.13652462586113648), np.float64(0.6154184817998815)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.27265049845405703), np.float64(1.2339943336004666)]}]\")"
+    }
+  ],
+  "native_validation_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CHECKPOINT.json

@@ -0,0 +1,14 @@
+{
+  "schema": "ziche.multi_checkpoint.v1",
+  "completed_objects": [
+    "/World/Assets/ShelfItems/grapefruit_can",
+    "/World/Assets/Tier2Items/oreo_gf",
+    "/World/Assets/ShelfItems/coke_c3",
+    "/World/Assets/Tier2Items/pring_bbq"
+  ],
+  "item_index": 3,
+  "control_ticks": 44867,
+  "recording": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/rollout/checkpoint_60hz.npz",
+  "continuous_process": true,
+  "time": 1791334336.8629203
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CODE_HASHES.json

@@ -0,0 +1,121 @@
+{
+  "audit_geometry.py": "bb61f4b914e5a0077ea5fb7e084849a4463112dccc78129710db113ce888abff",
+  "native_planner.py": "562f946a39177b42ff98b3ba47a0f725267769e402c0d992e1bde5df5836f675",
+  "multi_motion.py": "b0f1093dc50739811d33187670d2cdd5a9ea9001cad221e52dbda513427a5dfe",
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+  "validate_export.py": "b03cc4ac464a74acfacd89394a7d8cefb4b160782b91182c55999e3d3c2cca7f",
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+  "probe_case2_item1_fresh_live_place.py": "ff6615a4234008f075b1ca874f294be0906fb6c7ccc3f97e513e6d037fb081b6",
+  "qualify_case9_without_oreo.py": "8e8c97506c4d3610b5cad4c241bc3ef585bac84de6a19aecebfcd9ada2ec5aa7",
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+  "probe_zbar_rebased_pick.py": "0afb6483badecde3cfcad633d2b0161929a3baaf08dc19ca5559abead7d6c715",
+  "navigation.py": "107ca4a501340211efb5b2bb8d92375b519b8f35176912bd5878a1a20885ccc3",
+  "probe_slots.py": "5b6697ea570d7ac3ad86168639876c8856bcfa2ac8651b4ecf4a99be815511ed",
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+  "probe_case2_command_endpoints.py": "092294c7f424ab9bde6b71a32ff54e2f90dc0b62f9b42612364b3e1a759a1df5",
+  "probe_case9_item2_repack_full.py": "17217fe934d9d294e492911edf929ae75be3b21d114efb2f242a99cab86c38fa",
+  "qualify_case3_without_cayman.py": "c007d64a71ee14abf72b126fd87a98a3f4f0fef78d0af075b6c7bf71933fde22",
+  "probe_case5_item1_command_prebias.py": "49e28d307ace72b0b187304f102b00a470aaed7cb0ad5475d0b4c3861227f0ef",
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+  "probe_case7_item2_carry_recovery.py": "e35f28e7b408055455099825e74ee3cfc0a28a479e1467989965ba1b14641e58",
+  "tray_appearance.py": "4de2cbd2bd78f5688e99ae22acb45216f9a8ad5ef124fabf41a98f205fee61f6",
+  "probe_station_ik_grid.py": "359da1898890b64dd3e429149b34dde0a583a85a205cb13e29ec6b702ee97031",
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+  "supervise.py": "c7a588970648ac130e632d7b616ccea3504993a687433e8e85d91c7a77fe1647",
+  "probe_live_place_fast.py": "c6b38cd7b8b252ed16abf92c26df102fa46f4d5e1e66d46eee7761d94ee02522",
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+  "probe_case3_item1_fresh_live_place.py": "a0cd6d16b59a27462aeb98a291513460d06956189f689b23e1396bc082c37408",
+  "probe_grid_live_place_q7.py": "ae23a68a11939b9fb8b6609eb6efcdb26844c48b2bdada2344f11474289987ca",
+  "test_startup_validation.py": "262a292fc8f9359105025aa258ad2c7d9075509c0c294e93cfce751782856afe",
+  "probe_release_sweep_regression.py": "e70238e00f811101c5430b58bda53b1d7b28e4c1c942411d247d5d0c00f11788",
+  "audit_views.py": "9dea197767c6b896d62eb2ac9246eee882337cbec946a0e44b46654fa000beed",
+  "test_return_head_policy.py": "faa19735c03b5215823984a7d778840fd7ecc44a259ee273557692305fff619b",
+  "collision_inventory.py": "7dc50a06b547b71999a6adc13d731af4f29e6cba46f5088e4f3c6c8dbda32a46",
+  "probe_current_live_place.py": "10f392d5d2b01771fab96fe695a84dfe31d19d0ee3676d67c5ed267a18fe6a5e",
+  "probe_case9_item1_live_place.py": "e359d69596eaeea9ea837dbca87972ae852b72632a4fd8a467dd8dabcb82e8c2",
+  "motion_limits.py": "db055c334f95020c01b5e4cbe68860853d04691f1b33ebc1d759cfc5b87404f0",
+  "qualify_precision_return.py": "2d3229cacce767097c8af3275b63546141e1dd92d481117e32f128f041bf1867",
+  "parallel_world_audit.py": "2775d5b570ca486d5a1dbf57985df90b28664fa9e07ca5d78be317a259fc7ac4",
+  "probe_case7_item2_carry_recovery_v8.py": "50f0d4ceb73496412392106e31f275fc2ea89157e52288fba30bcc3449124ebb",
+  "probe_case7_item2_carry_recovery_v2.py": "c6e3dec2c591d20217f1eb3d9e1f53aa6ae7df02d9249c5c21808332764a0efd",
+  "diagnose_case1_zbar_pick.py": "70b4d7a0905f050abe31c26e17b8faa4d1b331df8ce443e1a2808780afe42d9e",
+  "probe_seed_full_generic.py": "2dfbd0ad5538d7b7b1563bfd608b1a1b0dcc70d0c0d6138d63ce60da5cbbb8e5",
+  "qualify_precision_turn_floor_v2.py": "66f29868e6343364451ea2c209c8e125283797945f7861290ce9926e86e6c102",
+  "probe_case5_item1_direct_old_slot.py": "b3b7a78e3d7705f1c6d77c77bd671b180763df977b0ff2830734be54960308b5",
+  "probe_case7_item2_carry_recovery_v6.py": "5727f84455e78906e90b5b704b24a1c415b7dd2b8806ec682142cbd1d3ea8fcf",
+  "probe_case7_item2_carry_recovery_v4.py": "b8be8af66efba0ff1f1c04321525d6a90eaef0f68e792340c3734d5c4dd1216b",
+  "diagnose_case9_item2_pick.py": "eeddee8e6ff3ba1c868289a47f21350a4eef621d7fd812dbf84e30fdcd3299d7",
+  "dashboard.py": "1345cb629bc0e945193078cee5dcb1048b31b20ca6e339cf7aded914ea5a7e10",
+  "probe_case7_item1_fresh_live_place.py": "1c9672942142bd1f4859b02740f37ab6f78b025600eae08093f2eb5390924d2d",
+  "probe_station_slots.py": "0917341f3d67a507306091f9d6ac0e9ca0ed518aa74b1e9ba2ecb99a23149153",
+  "probe_case6_item1_live_place.py": "a7bab0f72b26daf9516c65667d1c42579fb04e85655fdd4aeaf4e25aa683ed05",
+  "test_carry_target_robot_regression.py": "c019643d390dd1468a6800f04be78c8cb8127895614fc7b07f701db5fa18ecc2",
+  "prepare_visual_qa.py": "733bfbca5bd5357f3f546153c1f7c283448c9b4b03cbb08f472d5576befcb39b",
+  "probe_precision_return_controller.py": "0e50b35cd6ed4a865d4eb97d33a74bec0d4ff42ab26d7baa80094336048d6b08"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/COMMAND.json

@@ -0,0 +1,20 @@
+[
+  "docker",
+  "exec",
+  "--user",
+  "0:0",
+  "-e",
+  "CHAIN_PROJECT_ROOT=/mnt/agent-bench-data/lingjun/ziche",
+  "-e",
+  "CHAIN_RENDER=1",
+  "-e",
+  "OMP_NUM_THREADS=2",
+  "-e",
+  "OPENBLAS_NUM_THREADS=1",
+  "-e",
+  "MKL_NUM_THREADS=1",
+  "ziche_shelf_chain50_gpu5",
+  "/isaac-sim/python.sh",
+  "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/code_snapshot/run_episode.py",
+  "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06"
+]

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CONTACT_CAPTURE.json

@@ -0,0 +1,15 @@
+{
+  "schema": "ziche.contact_capture.v1",
+  "requested_targets": [
+    "/World/Assets/ShelfItems/grapefruit_can",
+    "/World/Assets/Tier2Items/oreo_gf",
+    "/World/Assets/ShelfItems/coke_c3",
+    "/World/Assets/Tier2Items/pring_bbq"
+  ],
+  "filter_semantics": "robot_or_any_requested_target",
+  "all_physics_ticks": true,
+  "control_ticks": 44867,
+  "dropped_rows": 0,
+  "callback_rows": 3088501,
+  "stream": "contacts.jsonl.gz"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json

@@ -0,0 +1,27 @@
+{
+  "passed": true,
+  "receipt": {
+    "schema": "ziche.contact_capture.v1",
+    "requested_targets": [
+      "/World/Assets/ShelfItems/grapefruit_can",
+      "/World/Assets/Tier2Items/oreo_gf",
+      "/World/Assets/ShelfItems/coke_c3",
+      "/World/Assets/Tier2Items/pring_bbq"
+    ],
+    "filter_semantics": "robot_or_any_requested_target",
+    "all_physics_ticks": true,
+    "control_ticks": 44867,
+    "dropped_rows": 0,
+    "callback_rows": 3088501,
+    "stream": "contacts.jsonl.gz"
+  },
+  "contact_rows": 3088501,
+  "targets_with_recorded_contacts": [
+    "/World/Assets/ShelfItems/coke_c3",
+    "/World/Assets/ShelfItems/grapefruit_can",
+    "/World/Assets/Tier2Items/oreo_gf",
+    "/World/Assets/Tier2Items/pring_bbq"
+  ],
+  "invalid_tick_rows": [],
+  "active_item_identity_mismatch_rows": []
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json

@@ -0,0 +1,11 @@
+{
+  "physics_complete": true,
+  "task_passed": true,
+  "task_failures": [],
+  "head_passed": true,
+  "videos_passed": true,
+  "training_frames": 14955,
+  "accepted": false,
+  "scope": "Native task/stable-start/no-fall/head/three-view decode and visual panels; all-tick geometry is separate",
+  "updated": 1791336152.3600848
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json

@@ -0,0 +1,487 @@
+{
+  "schema": "ziche.multi_item.grasp_retention_audit.v1",
+  "passed": true,
+  "semantics": "distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact",
+  "items": [
+    {
+      "item_index": 0,
+      "target": "/World/Assets/ShelfItems/grapefruit_can",
+      "active_hand": "l",
+      "gripper_prefix": "/World/Robot/gripper_l",
+      "shelf_pick_tick_range": [
+        91,
+        1260
+      ],
+      "window_control_ticks": 30,
+      "window_start_tick": 1231,
+      "window_end_tick": 1260,
+      "inner_contact_ticks": [
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+        1258,
+        1259,
+        1260
+      ],
+      "outer_contact_ticks": [
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+        1232,
+        1233,
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+        1255,
+        1256,
+        1257,
+        1258,
+        1259,
+        1260
+      ],
+      "simultaneous_bilateral_contact_ticks": [
+        1231,
+        1232,
+        1233,
+        1234,
+        1235,
+        1236,
+        1237,
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+        1255,
+        1256,
+        1257,
+        1258,
+        1259,
+        1260
+      ],
+      "simultaneous_bilateral_contact_tick_count": 30,
+      "minimum_simultaneous_bilateral_ticks": 15,
+      "final_tail_control_ticks": 3,
+      "final_tail_bilateral_ticks": [
+        1258,
+        1259,
+        1260
+      ],
+      "environment_clear_control_ticks": 15,
+      "environment_contact_ticks": [],
+      "passed": true
+    },
+    {
+      "item_index": 1,
+      "target": "/World/Assets/Tier2Items/oreo_gf",
+      "active_hand": "r",
+      "gripper_prefix": "/World/Robot/gripper_r",
+      "shelf_pick_tick_range": [
+        10003,
+        11265
+      ],
+      "window_control_ticks": 30,
+      "window_start_tick": 11236,
+      "window_end_tick": 11265,
+      "inner_contact_ticks": [
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+        11265
+      ],
+      "outer_contact_ticks": [
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+        11263,
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+      ],
+      "simultaneous_bilateral_contact_ticks": [
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+        11262,
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+        11264,
+        11265
+      ],
+      "simultaneous_bilateral_contact_tick_count": 30,
+      "minimum_simultaneous_bilateral_ticks": 15,
+      "final_tail_control_ticks": 3,
+      "final_tail_bilateral_ticks": [
+        11263,
+        11264,
+        11265
+      ],
+      "environment_clear_control_ticks": 15,
+      "environment_contact_ticks": [],
+      "passed": true
+    },
+    {
+      "item_index": 2,
+      "target": "/World/Assets/ShelfItems/coke_c3",
+      "active_hand": "r",
+      "gripper_prefix": "/World/Robot/gripper_r",
+      "shelf_pick_tick_range": [
+        22520,
+        24166
+      ],
+      "window_control_ticks": 30,
+      "window_start_tick": 24137,
+      "window_end_tick": 24166,
+      "inner_contact_ticks": [
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+        24162,
+        24163,
+        24164,
+        24165,
+        24166
+      ],
+      "outer_contact_ticks": [
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+        24161,
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+        24163,
+        24164,
+        24165,
+        24166
+      ],
+      "simultaneous_bilateral_contact_ticks": [
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+        24138,
+        24139,
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+        24141,
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+        24143,
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+        24162,
+        24163,
+        24164,
+        24165,
+        24166
+      ],
+      "simultaneous_bilateral_contact_tick_count": 30,
+      "minimum_simultaneous_bilateral_ticks": 15,
+      "final_tail_control_ticks": 3,
+      "final_tail_bilateral_ticks": [
+        24164,
+        24165,
+        24166
+      ],
+      "environment_clear_control_ticks": 15,
+      "environment_contact_ticks": [],
+      "passed": true
+    },
+    {
+      "item_index": 3,
+      "target": "/World/Assets/Tier2Items/pring_bbq",
+      "active_hand": "l",
+      "gripper_prefix": "/World/Robot/gripper_l",
+      "shelf_pick_tick_range": [
+        33486,
+        35897
+      ],
+      "window_control_ticks": 30,
+      "window_start_tick": 35868,
+      "window_end_tick": 35897,
+      "inner_contact_ticks": [
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+      ],
+      "outer_contact_ticks": [
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+        35896,
+        35897
+      ],
+      "simultaneous_bilateral_contact_tick_count": 30,
+      "minimum_simultaneous_bilateral_ticks": 15,
+      "final_tail_control_ticks": 3,
+      "final_tail_bilateral_ticks": [
+        35895,
+        35896,
+        35897
+      ],
+      "environment_clear_control_ticks": 15,
+      "environment_contact_ticks": [],
+      "passed": true
+    }
+  ]
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json

@@ -0,0 +1,119 @@
+{
+  "passed": true,
+  "items": [
+    {
+      "item_index": 0,
+      "target": "/World/Assets/ShelfItems/grapefruit_can",
+      "hand": "l",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 2824,
+      "contiguous_navigation_intervals": [
+        {
+          "first_source_control_tick": 1261,
+          "last_source_control_tick": 4084,
+          "samples": 2824
+        }
+      ],
+      "first_source_control_tick": 1261,
+      "last_source_control_tick": 4084,
+      "maximum_object_in_hand_translation_drift_m": 2.3433477654866178e-05,
+      "maximum_hand_highpass_residual_m": 5.384428715967016e-05,
+      "maximum_hand_highpass_angular_residual_rad": 3.468754307556644e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 5.1735124710348024e-05,
+      "maximum_consecutive_highpass_exceedance_ticks": 0,
+      "slip_limit_m": 0.025,
+      "hand_highpass_limit_m": 0.005,
+      "sustained_threshold_ticks": 6,
+      "filter_window_ticks": 7
+    },
+    {
+      "item_index": 1,
+      "target": "/World/Assets/Tier2Items/oreo_gf",
+      "hand": "r",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 4380,
+      "contiguous_navigation_intervals": [
+        {
+          "first_source_control_tick": 11266,
+          "last_source_control_tick": 15645,
+          "samples": 4380
+        }
+      ],
+      "first_source_control_tick": 11266,
+      "last_source_control_tick": 15645,
+      "maximum_object_in_hand_translation_drift_m": 3.75617146255433e-05,
+      "maximum_hand_highpass_residual_m": 2.297432142783469e-05,
+      "maximum_hand_highpass_angular_residual_rad": 2.4833842598390082e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 2.2317824464814863e-05,
+      "maximum_consecutive_highpass_exceedance_ticks": 0,
+      "slip_limit_m": 0.025,
+      "hand_highpass_limit_m": 0.005,
+      "sustained_threshold_ticks": 6,
+      "filter_window_ticks": 7
+    },
+    {
+      "item_index": 2,
+      "target": "/World/Assets/ShelfItems/coke_c3",
+      "hand": "r",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 3372,
+      "contiguous_navigation_intervals": [
+        {
+          "first_source_control_tick": 24167,
+          "last_source_control_tick": 27538,
+          "samples": 3372
+        }
+      ],
+      "first_source_control_tick": 24167,
+      "last_source_control_tick": 27538,
+      "maximum_object_in_hand_translation_drift_m": 1.1779894750793271e-05,
+      "maximum_hand_highpass_residual_m": 5.352449696994581e-05,
+      "maximum_hand_highpass_angular_residual_rad": 2.1960260056126e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 5.1158007825564206e-05,
+      "maximum_consecutive_highpass_exceedance_ticks": 0,
+      "slip_limit_m": 0.025,
+      "hand_highpass_limit_m": 0.005,
+      "sustained_threshold_ticks": 6,
+      "filter_window_ticks": 7
+    },
+    {
+      "item_index": 3,
+      "target": "/World/Assets/Tier2Items/pring_bbq",
+      "hand": "l",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 6592,
+      "contiguous_navigation_intervals": [
+        {
+          "first_source_control_tick": 35898,
+          "last_source_control_tick": 38544,
+          "samples": 2647
+        },
+        {
+          "first_source_control_tick": 39156,
+          "last_source_control_tick": 43100,
+          "samples": 3945
+        }
+      ],
+      "first_source_control_tick": 35898,
+      "last_source_control_tick": 43100,
+      "maximum_object_in_hand_translation_drift_m": 0.00016195832321496022,
+      "maximum_hand_highpass_residual_m": 2.1253149002344735e-05,
+      "maximum_hand_highpass_angular_residual_rad": 3.0523528170017385e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 2.0354479741050368e-05,
+      "maximum_consecutive_highpass_exceedance_ticks": 0,
+      "slip_limit_m": 0.025,
+      "hand_highpass_limit_m": 0.005,
+      "sustained_threshold_ticks": 6,
+      "filter_window_ticks": 7
+    }
+  ],
+  "semantics": "Measured hand pose relative to moving base and each active target pose relative to its assigned hand; slip retains one reference across the full item carry; high-pass filters reset only at gaps in source control ticks. All thresholds are unchanged."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json

@@ -0,0 +1,15 @@
+{
+  "passed": true,
+  "physics_samples": 38,
+  "maxima": {
+    "translation_m": 0.0005652908155656506,
+    "downward_m": 0.0005652904510498047,
+    "rotation_rad": 0.000102888295792725
+  },
+  "thresholds": {
+    "translation_m": 0.02,
+    "downward_m": 0.01,
+    "rotation_deg": 15.0
+  },
+  "all_requested_and_nonrequested_props_included": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/INPUT_QUALIFICATION.json

@@ -0,0 +1,78 @@
+{
+  "schema": "shelf_to_table_multi10.fresh_input_qualification.v1",
+  "case_id": 6,
+  "passed": true,
+  "native_physics_still_required": true,
+  "checks": {
+    "fresh_no_rollout": true,
+    "empty_initial_tray": true,
+    "item_count_3_or_4": true,
+    "unique_targets": true,
+    "all_targets_active": true,
+    "all_paths_new_root": true,
+    "controls_valid": true,
+    "slot_floor_containment": true,
+    "slot_pair_gap_12mm": true,
+    "unstable_nonrequested_prims_inactive": true
+  },
+  "controls": [
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/controls_item_01.npz",
+      "sha256": "b449d4d86d96c75d27beae782fdc5780580f6b5bb162a3e543ddcb8bc23c9a73",
+      "fields": [
+        "names",
+        "initial",
+        "pick",
+        "place_initial",
+        "target_local"
+      ],
+      "valid": true
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/controls_item_02.npz",
+      "sha256": "5e24a865a635f83788bddb8e82ca9ba502eff83cdf03b09b050749ff33e99bd6",
+      "fields": [
+        "names",
+        "initial",
+        "pick",
+        "place_initial",
+        "target_local"
+      ],
+      "valid": true
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/controls_item_03.npz",
+      "sha256": "12055c2bc641dc9111affdcb62d778a3f5831d9d9f382537c55a9c227a3de0ee",
+      "fields": [
+        "names",
+        "initial",
+        "pick",
+        "place_initial",
+        "target_local"
+      ],
+      "valid": true
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/controls_item_04.npz",
+      "sha256": "47c2e7876ab5c1cf49d2c0daccd8283c52227ad3f72b610339d5521560c14af5",
+      "fields": [
+        "names",
+        "initial",
+        "pick",
+        "place_initial",
+        "target_local"
+      ],
+      "valid": true
+    }
+  ],
+  "special_evidence": {
+    "startup_cleanup_inactive": [
+      "cayman_jacked",
+      "good2grow"
+    ]
+  },
+  "job_sha256": "d00a350206b77ac9f2e0362f2648537b652e0dac0b3be36503f65281c482e512",
+  "scene_sha256": "4a1c10bc06cce2901c86e17637a1b176c7b2d083575738df9e8946a513521c96",
+  "scene_physical_sha256": "a965ef6e3dbea41426b1f6c7d908db02dc4594ca752f09b9b95a4a9c730e733b",
+  "collision_profile_sha256": "1c03b95e436bf4b4374b34a4de1cd04dfd3f2fdc01aa683603dea0dc5d35e991"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/ITEM_EVENTS.json

@@ -0,0 +1,461 @@
+{
+  "schema": "ziche.multi_item_events.v1",
+  "requested_objects": [
+    "/World/Assets/ShelfItems/grapefruit_can",
+    "/World/Assets/Tier2Items/oreo_gf",
+    "/World/Assets/ShelfItems/coke_c3",
+    "/World/Assets/Tier2Items/pring_bbq"
+  ],
+  "completed_objects": [
+    "/World/Assets/ShelfItems/grapefruit_can",
+    "/World/Assets/Tier2Items/oreo_gf",
+    "/World/Assets/ShelfItems/coke_c3",
+    "/World/Assets/Tier2Items/pring_bbq"
+  ],
+  "events": [
+    {
+      "event": "item_started",
+      "item_index": 0,
+      "target": "/World/Assets/ShelfItems/grapefruit_can",
+      "tick": 31,
+      "pose": [
+        -1.5625362396240234,
+        2.10909104347229,
+        1.1825052499771118,
+        1.2139519185438985e-06,
+        1.3975895853945985e-06,
+        0.10688269883394241,
+        0.9942716956138611
+      ]
+    },
+    {
+      "event": "item_supported",
+      "item_index": 0,
+      "target": "/World/Assets/ShelfItems/grapefruit_can",
+      "tick": 5974,
+      "metrics": {
+        "target": "/World/Assets/ShelfItems/grapefruit_can",
+        "tick": 5974,
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/LIVE_DRIVE_READBACK.json

@@ -0,0 +1,4 @@
+{
+  "idx41_gripper_l_outer_joint1": 80.0,
+  "idx81_gripper_r_outer_joint1": 80.0
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json

@@ -0,0 +1,33 @@
+{
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+      "exported_file": "item_03_controls.npz",
+      "sha256": "47c2e7876ab5c1cf49d2c0daccd8283c52227ad3f72b610339d5521560c14af5"
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+  ],
+  "all_controls_preserved": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json

@@ -0,0 +1,434 @@
+{
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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json

@@ -0,0 +1,196 @@
+{
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+  "parquet_rows": 14955,
+  "metadata_frames": 14955,
+  "fps": 20,
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+  "parquet_sha256": "470930f0362912c508d2032dd8a9dbd68fa38015d15ccb0dc52555df59a618ae",
+  "note": "First/middle/last rows and all three images decoded through the official reader; full sequential decode is reused by exact video hashes."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json

@@ -0,0 +1,734 @@
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+    "/World/Robot/gripper_l_inner_link4",
+    "/World/Robot/gripper_l_inner_link2",
+    "/World/Robot/gripper_l_outer_link3",
+    "/World/Robot/gripper_l_outer_link4",
+    "/World/Robot/gripper_l_outer_link2",
+    "/World/Robot/gripper_r_inner_link3",
+    "/World/Robot/gripper_r_inner_link4",
+    "/World/Robot/gripper_r_inner_link2",
+    "/World/Robot/gripper_r_outer_link3",
+    "/World/Robot/gripper_r_outer_link4",
+    "/World/Robot/gripper_r_outer_link2"
+  ],
+  "evaluated_driven_paths": [
+    "/World/Robot/base_link",
+    "/World/Robot/body_link1",
+    "/World/Robot/body_link2",
+    "/World/Robot/head_link1",
+    "/World/Robot/head_link2",
+    "/World/Robot/arm_base_link",
+    "/World/Robot/arm_l_base_link",
+    "/World/Robot/arm_l_link1",
+    "/World/Robot/arm_l_link2",
+    "/World/Robot/arm_l_link3",
+    "/World/Robot/arm_l_link4",
+    "/World/Robot/arm_l_link5",
+    "/World/Robot/arm_l_link6",
+    "/World/Robot/arm_l_end_link",
+    "/World/Robot/gripper_l_base_link",
+    "/World/Robot/gripper_l_inner_link1",
+    "/World/Robot/gripper_l_outer_link1",
+    "/World/Robot/gripper_l_center_link",
+    "/World/Robot/arm_r_base_link",
+    "/World/Robot/arm_r_link1",
+    "/World/Robot/arm_r_link2",
+    "/World/Robot/arm_r_link3",
+    "/World/Robot/arm_r_link4",
+    "/World/Robot/arm_r_link5",
+    "/World/Robot/arm_r_link6",
+    "/World/Robot/arm_r_end_link",
+    "/World/Robot/gripper_r_base_link",
+    "/World/Robot/gripper_r_inner_link1",
+    "/World/Robot/gripper_r_outer_link1",
+    "/World/Robot/gripper_r_center_link"
+  ],
+  "evaluated_cameras": [
+    "/World/Robot/head_link2/Head_Camera",
+    "/World/Robot/gripper_l_base_link/Left_Camera",
+    "/World/Robot/gripper_r_base_link/Right_Camera"
+  ],
+  "scene_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/scene_physical.usda",
+  "scene_sha256": "24b5ba2344c06a7706a9ea51df1e3194ae1648ac19dbdcb36fa6a674bf47023d",
+  "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/code_snapshot/preroll_stability.py",
+  "projection_implementation_sha256": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PHYSICS_CLOCK.json

@@ -0,0 +1,19 @@
+{
+  "schema": "startup_preroll_clock_v1",
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+  "retained_control_rows": 44867,
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+  "retained_timestamp_formula": "(row_index+1)/60",
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+  "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)",
+  "retained_camera_row_formula": "control_tick % 3 == 0",
+  "retained_camera_frame_count": 14955,
+  "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.",
+  "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json

@@ -0,0 +1,42 @@
+{
+  "schema": "multi_startup_clock_audit_v1",
+  "passed": true,
+  "checks": {
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+    "rates": true,
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+    "timestamp_formula": true,
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+    "contact_semantics": true,
+    "recording_tick": true,
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+    "retained_first_post_step_global_physics_step": 156,
+    "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)",
+    "retained_camera_row_formula": "control_tick % 3 == 0",
+    "retained_camera_frame_count": 14955,
+    "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.",
+    "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded."
+  },
+  "clock_sha256": "a3b8dc9617c1ca54af14f572d8c5e65d0bbb50b8aef7d6362e31803f84ba2865",
+  "retained_rows": 44867,
+  "preroll_rows_60hz": 38
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PICK_GATE.item_00.json

@@ -0,0 +1,137 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PICK_GATE.item_01.json

@@ -0,0 +1,137 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PICK_GATE.item_02.json

@@ -0,0 +1,137 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PICK_GATE.item_03.json

@@ -0,0 +1,137 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json

@@ -0,0 +1,23 @@
+{
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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json

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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json

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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PLANNING_WAITS.json

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+        ],
+        "carry_policy": "precision_body_route_v2",
+        "carry_exit_candidates": [
+          0.25,
+          0.45,
+          0.15,
+          0.05
+        ]
+      },
+      "receipt": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_06/rollout/REPOSITION_REPAIR.item_03.tick_00039155.63d0e0888b18.json"
+    }
+  }
+]

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006511.json

@@ -0,0 +1,24 @@
+{
+  "schema": "ziche.precision_return_endpoint.v1",
+  "primitive_index": 0,
+  "primitive": {
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+    "goal": [
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+      1.5672259736871346,
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+  "yaw_error_rad": 7.724228368033437e-09,
+  "xy_gate_m": 0.0005,
+  "yaw_gate_rad": 0.0001,
+  "measured_after_advance": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008043.json

@@ -0,0 +1,23 @@
+{
+  "schema": "ziche.precision_return_endpoint.v1",
+  "primitive_index": 0,
+  "primitive": {
+    "kind": "turn",
+    "goal": [
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+    "return_stage": "room_navigation"
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+    1.5670262575149536,
+    -0.4641210436820984
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+  "yaw_error_rad": 8.145599105047197e-05,
+  "xy_gate_m": 0.0005,
+  "yaw_gate_rad": 0.0001,
+  "measured_after_advance": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000005/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008496.json

@@ -0,0 +1,24 @@
+{
+  "schema": "ziche.precision_return_endpoint.v1",
+  "primitive_index": 1,
+  "primitive": {
+    "kind": "drive",
+    "goal": [
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+      1.315397917024917,
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+  "xy_error_m": 0.0003013410188807704,
+  "yaw_error_rad": 8.139638640558555e-05,
+  "xy_gate_m": 0.0005,
+  "yaw_gate_rad": 0.0001,
+  "measured_after_advance": true
+}