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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/recovery_evidence/native_alignment.json

@@ -0,0 +1,63 @@
+{
+  "layout_id": 7,
+  "frames": 12875,
+  "source_dir": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_07",
+  "native_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_07/sim_info/episode_000000/recording_60hz.npz",
+  "native_rows": 38626,
+  "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": 1.3554979467755857e-06,
+  "source_times_exact": false,
+  "source_time_max_error": 0.8666870117187955,
+  "source_clock_offset_first_s": 0.8666666865348815,
+  "source_clock_offset_range_s": [
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+    0.8666870117187955
+  ],
+  "source_clock_offset_ptp_s": 4.8828125045474735e-05,
+  "source_parquet_clock_dtype": "float",
+  "source_native_clock": {
+    "schema": "startup_preroll_clock_v1",
+    "physics_dt_s": 0.004166666666666667,
+    "physics_hz": 240,
+    "control_hz": 60,
+    "training_hz": 20,
+    "substeps_per_control": 4,
+    "unrecorded_preroll_physics_steps": 208,
+    "unrecorded_preroll_duration_s": 0.8666666666666667,
+    "retained_control_rows": 38626,
+    "retained_first_control_row": 0,
+    "retained_timestamp_formula": "(row_index+1)/60",
+    "retained_first_post_step_global_physics_step": 212,
+    "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": 12875,
+    "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_000006/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_07",
+  "cache_source_dir": "/workspace/alienware/datasets/robotagentbench-open-20261025/sources/l01_original10_recovered/staged_datasets/layout_07",
+  "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_000006/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,
+    "homogeneous_row": true,
+    "rigid_rotation": true,
+    "rigid_mount_alignment": true
+  },
+  "failures": [],
+  "frames": 12875,
+  "rotation_orthogonality_max_error": 1.7763568394002505e-15,
+  "rotation_determinant_max_error": 2.220446049250313e-15,
+  "mount_errors": {
+    "top_head": {
+      "translation_m": 1.318316798730503e-15,
+      "rotation_rad": 1.1264796436151371e-15
+    },
+    "hand_left": {
+      "translation_m": 1.3608726004012153e-15,
+      "rotation_rad": 5.036317838220687e-16
+    },
+    "hand_right": {
+      "translation_m": 1.2366473666340121e-15,
+      "rotation_rad": 7.17395727188892e-16
+    }
+  },
+  "camera_extrinsics_sha256": "7354b89186ec6c94d4fdbbd714aef9a7e7e14693cc2bd6eaf6d0bbf7406a0241"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/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": {
+    "robot_link_translation_span_m": 5.2125957272232645e-06,
+    "robot_link_rotation_span_rad": 0.0004040396994378102,
+    "prop_translation_span_m": 7.168682121830291e-06,
+    "prop_rotation_span_rad": 0.00016322315434936095,
+    "camera_link_translation_span_m": 1.6858739404357614e-07,
+    "camera_link_rotation_span_rad": 1.931411236050088e-07,
+    "driven_robot_link_translation_span_m": 1.6858739404357614e-07,
+    "driven_robot_link_rotation_span_rad": 6.690604782296345e-07,
+    "joint_span": 0.000623844563961029,
+    "joint_speed_max": 0.004805863834917545,
+    "passive_finger_max_projected_motion_px": 0.057327382166296154
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json

@@ -0,0 +1,74 @@
+{
+  "schema": "multi_camera_warmup_audit_v1",
+  "passed": true,
+  "checks": {
+    "native_rendered": true,
+    "status": true,
+    "after_stability": true,
+    "render_warmups": true,
+    "discarded_reads": true,
+    "unrecorded_hold_samples": true,
+    "preroll_hold_accounting": true,
+    "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": {
+    "status": "PASSED",
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+      "prop_rotation_span_rad": 0.00016322315434936095,
+      "camera_link_translation_span_m": 1.6858739404357614e-07,
+      "camera_link_rotation_span_rad": 1.931411236050088e-07,
+      "driven_robot_link_translation_span_m": 1.6858739404357614e-07,
+      "driven_robot_link_rotation_span_rad": 6.690604782296345e-07,
+      "joint_span": 0.000623844563961029,
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+      "passive_finger_max_projected_motion_px": 0.057327382166296154
+    }
+  },
+  "receipt_sha256": "0724897a23aecfe0eb0938242ff3efee9fcc3e6165e9a46c5ece8db12c6d76ff",
+  "startup_frame_sha256": {
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+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json

@@ -0,0 +1,18 @@
+{
+  "accepted": false,
+  "acceptance_basis": "reviewed_millimeter_preroll_deviation_pending_user_review",
+  "native_task_checks_passed": false,
+  "candidate_qualification": {
+    "eligible": true,
+    "strict_task_passed": false,
+    "basis": "reviewed_millimeter_preroll_deviation_pending_user_review",
+    "deviation_receipt": "REVIEWED_PREROLL_DEVIATION.json",
+    "strict_failures": [
+      "all_props_no_fall_and_completed_items_remain_stable"
+    ]
+  },
+  "strict_diagnostic_failures_retained": true,
+  "automatic_physics_certification_claimed": false,
+  "manual_visual_review_required": true,
+  "export_script_sha256": "1994c849fbed872c52c67a235c4aad4980e6dd5627255346890af98e64be4343"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CARRY_PLAN.item_00.json

@@ -0,0 +1,17 @@
+{
+  "policy": "precision_body_route_v2",
+  "waist_lift_m": 0.55,
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.3
+  },
+  "exit_distance_m": 0.35,
+  "route_search": {
+    "expanded": 1,
+    "seconds": 1.1160499239340425
+  },
+  "failures": [],
+  "planning_seconds": 14.680603661108762,
+  "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_000006/sim_info/episode_000000/CARRY_PLAN.item_01.json

@@ -0,0 +1,17 @@
+{
+  "policy": "precision_body_route_v2",
+  "waist_lift_m": 0.55,
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.3
+  },
+  "exit_distance_m": 0.35,
+  "route_search": {
+    "expanded": 1,
+    "seconds": 0.5797534799203277
+  },
+  "failures": [],
+  "planning_seconds": 14.829420372843742,
+  "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_000006/sim_info/episode_000000/CARRY_PLAN.item_02.json

@@ -0,0 +1,17 @@
+{
+  "policy": "precision_body_route_v2",
+  "waist_lift_m": 0.55,
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.3
+  },
+  "exit_distance_m": 0.35,
+  "route_search": {
+    "expanded": 1,
+    "seconds": 1.0305313686840236
+  },
+  "failures": [],
+  "planning_seconds": 18.70327319111675,
+  "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_000006/sim_info/episode_000000/CASE7_ITEM02_CURRENT_NORTH_APPROACH_PROPOSAL.json

@@ -0,0 +1,105 @@
+{
+  "schema": "multi_item.case7_current_north_approach_recovery.v1",
+  "read_only": true,
+  "status_at_probe": {
+    "status": "WAITING_FOR_PLANNING_REPAIR",
+    "phase": "item_02_forward_navigation",
+    "item_index": 2,
+    "completed_objects": [
+      "/World/Assets/ShelfItems/good2grow",
+      "/World/Assets/Tier2Items/honeymaid"
+    ],
+    "control_ticks": 29030,
+    "updated": 1791290141.9205527,
+    "base_pose": [
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+      1.065488576889038,
+      0.0013696197420358658,
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+      3.2104017009260133e-06,
+      0.3814500868320465,
+      -0.9243896007537842
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+    "target_pose": [
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+      1.1408588886260986,
+      0.12918835878372192,
+      -0.2569127380847931,
+      -0.8337598443031311,
+      0.4713289141654968
+    ],
+    "planning_error": "RuntimeError('Blocked navigation requires a screened live-state recovery to its endpoint: {\"schema\": \"ziche.navigation_motion_recovery.v1\", \"failure_sha256\": \"5a5b4f9173c72acdf4aa666cf5b8144d33b1dcc51428f6877af261e05bc1b66d\", \"primitive_index\": 3, \"primitive\": {\"kind\": \"turn\", \"goal\": [-1.0663820670686106, 1.0637987903151804, -1.5746476816413626]}, \"measured_base\": [-1.0679075717926025, 1.065488576889038, -0.7827288508415222], \"xy_error_m\": 0.002276520003889993, \"yaw_error_rad\": 0.7919188307998404, \"xy_gate_m\": 0.001, \"yaw_gate_rad\": 0.001, \"tick\": 29030, \"stale_primitive_replayed\": false}')",
+    "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/repairs/item_02_carry_motion_5a5b4f9173c7.json"
+  },
+  "failure_sha256": "5a5b4f9173c72acdf4aa666cf5b8144d33b1dcc51428f6877af261e05bc1b66d",
+  "checkpoint_sha256": "bffd36832b23025f6ae08dadde315d58cbd1300edb7df7235ca5636e32a1d749",
+  "accepted": {
+    "primitives": [
+      {
+        "kind": "drive",
+        "goal": [
+          -1.1246269116971566,
+          1.121905918910722,
+          -0.7827288508415222
+        ],
+        "direction": -1
+      },
+      {
+        "kind": "turn",
+        "goal": [
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+          1.121905918910722,
+          1.1204121692478715
+        ]
+      },
+      {
+        "kind": "drive",
+        "goal": [
+          -1.0656888249100522,
+          1.2437974553527567,
+          1.1204121692478715
+        ],
+        "direction": 1
+      },
+      {
+        "kind": "turn",
+        "goal": [
+          -1.0656888249100522,
+          1.2437974553527567,
+          -1.5746476816413626
+        ]
+      },
+      {
+        "kind": "drive",
+        "goal": [
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+          1.0637987903151804,
+          -1.5746476816413626
+        ],
+        "direction": 1
+      }
+    ],
+    "full_body_held_target_live_props_screened": true,
+    "original_endpoint": [
+      -1.0663820670686106,
+      1.0637987903151804,
+      -1.5746476816413626
+    ],
+    "current_start": [
+      -1.0679075717926025,
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+      -0.7827288508415222
+    ],
+    "turns_displaced_away_from_table": true
+  },
+  "attempts": [
+    {
+      "exit_distance_m": 0.08,
+      "approach_distance_m": 0.18,
+      "passed": true,
+      "failures": []
+    }
+  ],
+  "native_validation_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CASE7_ITEM02_CURRENT_NORTH_APPROACH_V2_PROPOSAL.json

@@ -0,0 +1,91 @@
+{
+  "schema": "multi_item.case7_current_north_approach_recovery.v2",
+  "read_only": true,
+  "status_at_probe": {
+    "status": "WAITING_FOR_PLANNING_REPAIR",
+    "phase": "item_02_forward_navigation",
+    "item_index": 2,
+    "completed_objects": [
+      "/World/Assets/ShelfItems/good2grow",
+      "/World/Assets/Tier2Items/honeymaid"
+    ],
+    "control_ticks": 31133,
+    "updated": 1791335154.3102849,
+    "base_pose": [
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+      0.0013734251260757446,
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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CASE7_ITEM02_FOCUSED_FINAL_GENERAL_PROPOSAL.json

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+        "assigned_contact_samples": {
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+        "first_three_clean_retreat_start": 0,
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+        "no_recontact_after_three_clean_samples": true,
+        "all_live_props_checked": true,
+        "released_target_stationary_at_goal": true,
+        "pose_writes_or_resets": false,
+        "live_aperture_conditioning": {
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+          "collision_exceptions_unchanged": true,
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+      "report": {
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+        "waist_lift_m": 0.55,
+        "posture": {
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+          "hand_height_change_m": -0.15
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+        "route_search": {
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+          "seconds": 0.7832389883697033
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+        "failures": [],
+        "planning_seconds": 16.0498731629923,
+        "preflight_only": true,
+        "full_native_audit_required": true
+      }
+    },
+    "compact_to_exact_bridge_clearance": true,
+    "full_world_checks": true
+  },
+  "attempts": [
+    {
+      "rank": 0,
+      "stage": "passed"
+    }
+  ],
+  "native_validation_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CHECKPOINT.json

@@ -0,0 +1,13 @@
+{
+  "schema": "ziche.multi_checkpoint.v1",
+  "completed_objects": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/Tier2Items/skit_littles"
+  ],
+  "item_index": 2,
+  "control_ticks": 38626,
+  "recording": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/rollout/checkpoint_60hz.npz",
+  "continuous_process": true,
+  "time": 1791337112.2302845
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CODE_HASHES.json

@@ -0,0 +1,117 @@
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+  "probe_case7_item2_carry_recovery_v2.py": "c6e3dec2c591d20217f1eb3d9e1f53aa6ae7df02d9249c5c21808332764a0efd",
+  "diagnose_case1_zbar_pick.py": "70b4d7a0905f050abe31c26e17b8faa4d1b331df8ce443e1a2808780afe42d9e",
+  "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_000006/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_gpu6",
+  "/isaac-sim/python.sh",
+  "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/code_snapshot/run_episode.py",
+  "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07"
+]

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CONTACT_CAPTURE.json

@@ -0,0 +1,14 @@
+{
+  "schema": "ziche.contact_capture.v1",
+  "requested_targets": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/Tier2Items/skit_littles"
+  ],
+  "filter_semantics": "robot_or_any_requested_target",
+  "all_physics_ticks": true,
+  "control_ticks": 38626,
+  "dropped_rows": 0,
+  "callback_rows": 1958091,
+  "stream": "contacts.jsonl.gz"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json

@@ -0,0 +1,25 @@
+{
+  "passed": true,
+  "receipt": {
+    "schema": "ziche.contact_capture.v1",
+    "requested_targets": [
+      "/World/Assets/ShelfItems/good2grow",
+      "/World/Assets/Tier2Items/honeymaid",
+      "/World/Assets/Tier2Items/skit_littles"
+    ],
+    "filter_semantics": "robot_or_any_requested_target",
+    "all_physics_ticks": true,
+    "control_ticks": 38626,
+    "dropped_rows": 0,
+    "callback_rows": 1958091,
+    "stream": "contacts.jsonl.gz"
+  },
+  "contact_rows": 1958091,
+  "targets_with_recorded_contacts": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/Tier2Items/skit_littles"
+  ],
+  "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_000006/sim_info/episode_000000/ENDPOINT_ALREADY_IN_GATE.item_02.tick_33501.json

@@ -0,0 +1,20 @@
+{
+  "control_tick": 33501,
+  "measured_base": [
+    -1.0663069486618042,
+    1.0645533800125122,
+    -1.5740869045257568
+  ],
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+    1.0637987903151804,
+    -1.5746476816413626
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+  "xy_error_m": 0.0007583194487552021,
+  "yaw_error_rad": 0.0005607771156057595,
+  "xy_gate_m": 0.001,
+  "yaw_gate_rad": 0.001,
+  "motion_executed": false,
+  "pose_writes_or_resets": false,
+  "reason": "The recovery controller demanded 0.2 mm, but the original unchanged endpoint gate is already satisfied."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/FINE_ENDPOINT_RECOVERY.item_02.tick_29030.json

@@ -0,0 +1,35 @@
+{
+  "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/CASE7_ITEM02_CURRENT_NORTH_APPROACH_PROPOSAL.json",
+  "proposal_sha256": "e5b63567d5c48fb837ba3ea933cc62de31bf6e45b0074a85631c93b6321961e7",
+  "start_tick": 29030,
+  "end_tick": 31133,
+  "segments": [
+    {
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+      "end_tick": 29080
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+      "goal": [
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+      "end_tick": 29585
+    }
+  ],
+  "measured_final": [
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+    1.121800184249878,
+    1.1137374639511108
+  ],
+  "pose_writes_or_resets": false,
+  "original_endpoint_gate_unchanged": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/FINE_ENDPOINT_RECOVERY.item_02.tick_31133.json

@@ -0,0 +1,144 @@
+{
+  "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/CASE7_ITEM02_CURRENT_NORTH_APPROACH_V2_PROPOSAL.json",
+  "proposal_sha256": "4d3ca9195f352416552c2d176c53fc2a032c900441846f4d8e942c1984b82a22",
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json

@@ -0,0 +1,13 @@
+{
+  "physics_complete": true,
+  "task_passed": false,
+  "task_failures": [
+    "all_props_no_fall_and_completed_items_remain_stable"
+  ],
+  "head_passed": true,
+  "videos_passed": true,
+  "training_frames": 12875,
+  "accepted": false,
+  "scope": "Native task/stable-start/no-fall/head/three-view decode and visual panels; all-tick geometry is separate",
+  "updated": 1791337886.713803
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json

@@ -0,0 +1,367 @@
+{
+  "schema": "ziche.multi_item.grasp_retention_audit.v1",
+  "passed": true,
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+      "simultaneous_bilateral_contact_tick_count": 30,
+      "minimum_simultaneous_bilateral_ticks": 15,
+      "final_tail_control_ticks": 3,
+      "final_tail_bilateral_ticks": [
+        26158,
+        26159,
+        26160
+      ],
+      "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_000006/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json

@@ -0,0 +1,92 @@
+{
+  "passed": true,
+  "items": [
+    {
+      "item_index": 0,
+      "target": "/World/Assets/ShelfItems/good2grow",
+      "hand": "r",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 2740,
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+        {
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+          "last_source_control_tick": 4099,
+          "samples": 2740
+        }
+      ],
+      "first_source_control_tick": 1360,
+      "last_source_control_tick": 4099,
+      "maximum_object_in_hand_translation_drift_m": 2.0979965285724274e-05,
+      "maximum_hand_highpass_residual_m": 5.363069787171232e-05,
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+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 5.205221784564411e-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/honeymaid",
+      "hand": "r",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 2847,
+      "contiguous_navigation_intervals": [
+        {
+          "first_source_control_tick": 12631,
+          "last_source_control_tick": 15477,
+          "samples": 2847
+        }
+      ],
+      "first_source_control_tick": 12631,
+      "last_source_control_tick": 15477,
+      "maximum_object_in_hand_translation_drift_m": 8.038635471954644e-06,
+      "maximum_hand_highpass_residual_m": 2.207798057118428e-05,
+      "maximum_hand_highpass_angular_residual_rad": 2.413595285745517e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 2.1562201679481148e-05,
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+      "hand_highpass_limit_m": 0.005,
+      "sustained_threshold_ticks": 6,
+      "filter_window_ticks": 7
+    },
+    {
+      "item_index": 2,
+      "target": "/World/Assets/Tier2Items/skit_littles",
+      "hand": "l",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 10089,
+      "contiguous_navigation_intervals": [
+        {
+          "first_source_control_tick": 26161,
+          "last_source_control_tick": 33501,
+          "samples": 7341
+        },
+        {
+          "first_source_control_tick": 34113,
+          "last_source_control_tick": 36860,
+          "samples": 2748
+        }
+      ],
+      "first_source_control_tick": 26161,
+      "last_source_control_tick": 36860,
+      "maximum_object_in_hand_translation_drift_m": 0.0001134111496512206,
+      "maximum_hand_highpass_residual_m": 2.3478274580857168e-05,
+      "maximum_hand_highpass_angular_residual_rad": 4.693517706345071e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 2.1729291693579093e-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_000006/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json

@@ -0,0 +1,15 @@
+{
+  "passed": true,
+  "physics_samples": 52,
+  "maxima": {
+    "translation_m": 0.002425121319632844,
+    "downward_m": 0.0024140477180480957,
+    "rotation_rad": 0.07649609011937263
+  },
+  "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_000006/sim_info/episode_000000/INPUT_QUALIFICATION.json

@@ -0,0 +1,65 @@
+{
+  "schema": "shelf_to_table_multi10.fresh_input_qualification.v1",
+  "case_id": 7,
+  "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": [
+    {
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+      "sha256": "b2bd1454d66f550adf1352750e1a2ed1326216082645eede797e806cc028db7d",
+      "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_07/controls_item_02.npz",
+      "sha256": "a93ae9ae034082f366b1c3b647ab91adb413c41e1077a5dab003c094de3d7d6e",
+      "fields": [
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+        "initial",
+        "pick",
+        "place_initial",
+        "target_local"
+      ],
+      "valid": true
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/controls_item_03.npz",
+      "sha256": "5c50627e3c2c0a961c416557306073e79c43643e93600167955b9334059e10ee",
+      "fields": [
+        "names",
+        "initial",
+        "pick",
+        "place_initial",
+        "target_local"
+      ],
+      "valid": true
+    }
+  ],
+  "special_evidence": {
+    "startup_cleanup_inactive": [
+      "pring_bbq"
+    ]
+  },
+  "job_sha256": "5dad0f8223164177a6cd7b539f9daca0c96baaa8159ec49b8d6d9d21a2605131",
+  "scene_sha256": "90f5e56a099b3c2562c49d248bfeab3c5103277388b1ffc65e438417f20a260e",
+  "scene_physical_sha256": "e67f40411bd86734f592e3385edcb373001a68c9f805b5ca2f77b534edbf1407",
+  "collision_profile_sha256": "abe0e3b3b4773922f666993887af485a3e597d4f7000e279bc34b01ae16e05c9"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/ITEM_EVENTS.json

@@ -0,0 +1,348 @@
+{
+  "schema": "ziche.multi_item_events.v1",
+  "requested_objects": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/Tier2Items/skit_littles"
+  ],
+  "completed_objects": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/Tier2Items/skit_littles"
+  ],
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+        "support_contact_observed": true
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+      "target": "/World/Assets/Tier2Items/skit_littles",
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+      "return_base_error_m": null,
+      "return_yaw_error_rad": null
+    }
+  ]
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/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_000006/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json

@@ -0,0 +1,26 @@
+{
+  "items": [
+    {
+      "item_index": 0,
+      "target": "/World/Assets/ShelfItems/good2grow",
+      "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/controls_item_01.npz",
+      "exported_file": "item_00_controls.npz",
+      "sha256": "b2bd1454d66f550adf1352750e1a2ed1326216082645eede797e806cc028db7d"
+    },
+    {
+      "item_index": 1,
+      "target": "/World/Assets/Tier2Items/honeymaid",
+      "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/controls_item_02.npz",
+      "exported_file": "item_01_controls.npz",
+      "sha256": "a93ae9ae034082f366b1c3b647ab91adb413c41e1077a5dab003c094de3d7d6e"
+    },
+    {
+      "item_index": 2,
+      "target": "/World/Assets/Tier2Items/skit_littles",
+      "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/controls_item_03.npz",
+      "exported_file": "item_02_controls.npz",
+      "sha256": "5c50627e3c2c0a961c416557306073e79c43643e93600167955b9334059e10ee"
+    }
+  ],
+  "all_controls_preserved": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/NAVIGATION_BLOCKED.item_02.json

@@ -0,0 +1,21 @@
+{
+  "primitive_index": 3,
+  "primitive": {
+    "kind": "turn",
+    "goal": [
+      -1.0663820670686106,
+      1.0637987903151804,
+      -1.5746476816413626
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+  },
+  "base": [
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+  ],
+  "command": [
+    0.0,
+    -0.25
+  ],
+  "stalled_seconds": 6.0
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/NAVIGATION_MOTION_BLOCK.item_02.tick_00029030.5a5b4f9173c7.json

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+  "created_utc": "2026-10-07T01:51:46.405723+00:00",
+  "layout_id": 7,
+  "passed": true,
+  "dataset": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_07",
+  "reader": "lerobot LeRobotDataset(video_backend='pyav')",
+  "dataset_length": 12875,
+  "parquet_rows": 12875,
+  "metadata_frames": 12875,
+  "fps": 20,
+  "sample_indices": [
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+    6437,
+    12874
+  ],
+  "samples": [
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+        "item_index": true,
+        "phase_index": true,
+        "timestamp": true,
+        "simulator_time_s": true
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+      "task": "Starting with an empty tray, pick up good2grow, honeymaid, skit_littles from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.",
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+        "phase_index": true,
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+      "task": "Starting with an empty tray, pick up good2grow, honeymaid, skit_littles from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.",
+      "images": {
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+  "failures": [],
+  "parquet_sha256": "2105177a6691480e350279ec2ac5e3c2b194a615a4d7ba5ddeb40b3b7b377a44",
+  "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_000006/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json

@@ -0,0 +1,734 @@
+{
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+    "/World/Robot/arm_r_link3",
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+    "/World/Robot/arm_r_link6",
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+    "/World/Robot/gripper_r_outer_link1",
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+    "/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_07/scene_physical.usda",
+  "scene_sha256": "e67f40411bd86734f592e3385edcb373001a68c9f805b5ca2f77b534edbf1407",
+  "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_07/code_snapshot/preroll_stability.py",
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/PHYSICS_CLOCK.json

@@ -0,0 +1,19 @@
+{
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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": 12875,
+  "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_000006/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json

@@ -0,0 +1,42 @@
+{
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+  "passed": true,
+  "checks": {
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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",
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+    "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.",
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+  },
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+  "retained_rows": 38626,
+  "preroll_rows_60hz": 52
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/PICK_GATE.item_00.json

@@ -0,0 +1,137 @@
+{
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+    "active_hand": "r",
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+    "environment_contact_ticks": [],
+    "native_contact_required": true
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/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_000006/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_000006/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json

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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/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_000006/sim_info/episode_000000/PICK_PREFLIGHT.item_02.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_000006/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json

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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json

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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/PLANNING_WAITS.json

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+[
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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000006/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006565.json

@@ -0,0 +1,24 @@
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+}