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{"episode_index": 4947, "source_id": "sofa_clear_long_original_20261012:tk_long_p41_b:owner_recommended_20261012", "task_kind": "long", "structural_pass": true, "source_review": {"original_job_flags": {"diagnostic": false, "physical_success": false, "delivery_eligible": false, "human_review": "pending"}, "original_long_task_qualification": {"job": "tk_long_p41_b", "long_task": "sofa_clear_long", "layout": "ID_04_LIVING_STRAIGHT", "objects": ["bill", "remote", "umbrella", "wallet"], "frames": 13748, "seconds": 687.4, "phases": ["seg0_pick", "seg0_navigation_pose_handoff", "seg0_navigation", "seg0_navigation_destination_handoff", "seg0_place", "seg1_return_pose_handoff", "seg1_return_navigation", "seg1_return_pick_posture", "seg1_pick", "seg1_navigation_pose_handoff", "seg1_navigation_idle_arm_handoff", "seg1_navigation", "seg1_navigation_destination_handoff", "seg1_place", "seg2_return_pose_handoff", "seg2_return_navigation", "seg2_return_pick_posture", "seg2_pick", 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physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.238584965467453, "pad_force_n": 56.47997038447961, "maximum_pad_penetration_m": 0.001401897519826889, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0016792193138086067, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 7.904114873955963, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 40, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 420, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 119, "release_frame": 419, "held_frames": 301, "anchor_segment": "pick_4.1", "maximum_swing_deg": 7.904114873955963, "maximum_swing_frame": 205, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 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0.19755342602729797, "pad_force_n": 68.50981105760431, "maximum_pad_penetration_m": 0.0016401584725826979, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.001129542872611418, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 6.305501959374274, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 39, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 393, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 126, "release_frame": 392, "held_frames": 267, "anchor_segment": "pick_4.1", "maximum_swing_deg": 6.305501959374274, "maximum_swing_frame": 134, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 0.001129542872611418, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object travels in that frame is what separates a held object from a lost one (0.2 mm and 0.08 mm on held grasps against 211 mm on a dropped one)", "scope": "object motion in the pads own frame after first bilateral contact; diagnostic only, no gate consumes it"}, "pre_closure_object_motion": {"available": true, "closure_start_frame": 101, "frames": 102, "maximum_displacement_m": 3.579381748874281e-07, "maximum_displacement_frame": 15, "maximum_rotation_deg": 0.000303765896421006, "maximum_rotation_frame": 89, "limit_m": 0.005, "limit_deg": 5.0, "undisturbed_before_closure": true, "open_pad_gap_m": 0.12424885283981277, "held_pad_gap_m": 0.06037741277571942, "scope": "object pose from the first replayed frame to the last frame at the open pad width, measured by PhysX; this is the gate the pre-closure corridor margin used to stand in for"}, "fixed_station": 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"handoff_base_still": true}, "passed": true, "alias_of": "pick_acceptance"}, "pick_details": {"rise_m": 0.20009315013885498, "lift_max_m": 0.20083653926849365, "near_hand_m": 0.18085073683856648}, "pick_phases": {"effective": {"right_close": [103], "settle": [126], "lift": [136], "standby": [202], "hold": [373], "close": [103]}, "source": "measured_in_replay", "plan": {"right_close": [103], "settle": [123], "lift": [147], "standby": [202], "hold": [373], "close": [103]}}, "gates": {"target_lifted": true, "lift_matches_source": true, "object_near_gripper_base": true, "sustained_bilateral_contact": true, "bilateral_no_long_gaps": true, "physical_pad_force": true, "pad_penetration_within_limit": true, "stable_grasp": true, "picked_object_retained_at_tail": true, "target_held_at_tail": true, "no_single_frame_teleport": true, "both_arms_at_standby": true, "no_unexpected_robot_environment_contact": true, "no_unexpected_target_contact": true, "environment_undisturbed": true, 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"owner_gate_mapping": {"pick": "owner atomic_grasp_acceptance semantics (bilateral declared pads >= 0.05 N with <= 2-frame gaps, pad penetration <= 3 mm, no unexpected target / robot contacts, environment undisturbed 1 cm / 5 deg, stable grasp offset change <= 3 mm, lift matches the source) + the 6.9 runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics.", "place": "6.9 runner / semantic_v2 table semantics: object collision hull on the table top (xy inset 1 cm, bottom within -12 mm..+30 mm of the top), >= 30 of the last 60 ticks table-supported or sleep-supported, small post-release drop (<= 3 cm), gripper open and > 0.20 m away, stable final (198 rule); v11 owner in-hand gates (slip, pad penetration, jitter20, grip unsaturated) with the measured moving-base link transforms.", "continuous": "Native parameter/state/action/base checks, constant 60 Hz physics, all non-target bodies <= 2 cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5050, "task_index": 199, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original 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{"episode_index": 4975, "source_id": "short17.songyao_mixed50_20261009/slot04/attempt08", "task_kind": "short", "structural_pass": true, "source_review": {"passed": true, "continuous_episode": true, "physical_grasp": true, "task_success": true, "pick_passed": true, "carry_passed": true, "place_passed": true, "object_pose_writes_during_episode": 0, "state_resets_during_episode": 0, "object_attachment_count": 0, "locomotion_model": "ideal_g1_reference", "owner_approved": false, "source_job": "/work/episodes/slot04/input/job.json", "started_unix": 1791567086.6917403, "short_task": "6", "family": "glasses_short", "case_number": 5, "pick_task": "4.1", "place_task": "6.9", "object": "glasses_case", "runner": "run_episode_short6.py", "args": {"job": "/work/episodes/slot04/input/job.json", "output": "/work/episodes/slot04/attempt08/physics", "stop_after_pick": false, "stop_after_carry": false, "settle_frames": 120, "frame0_extra_ticks": 0, "carry_torque": 32, "place_torque": 32, "carry_lift": 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"object_move_m": 0.00015616269411803491, "settle_targets": "authored q0", "max_body_move_m": 0.0025417825166746642, "bodies_over_2mm": [{"path": "/World/Assets/Remote", "move_m": 0.0025417825166746642}], "limit_m": 0.005, "passed": true}, "settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 0.00015616269411803491, "settle_targets": "authored q0", "max_body_move_m": 0.0025417825166746642, "bodies_over_2mm": [{"path": "/World/Assets/Remote", "move_m": 0.0025417825166746642}], "limit_m": 0.005, "passed": true}, "ticks": 12600, "object_xyz": [-1.9772720336914062, 0.09574443101882935, 0.4475860297679901], "pick_grip_adaptation": {"mode": "verbatim_replay", "gripper_command_modified_frames": [], "frames_verbatim": 393, "frames_total": 393, "reason": "the atomic sofa-pick commands are replayed unchanged; the right hold is blended to the carry squeeze only after the atomic gates, in hold_transition"}, "grip_controller": {"mode": "recorded_applied_20hz_targets", "source": "/work/episodes/slot04/input/plan/action.npz", "fresh_support_pick": true}, "pick_acceptance": {"checks": {"target_lifted": true, "lift_matches_source": true, "object_near_gripper_base": true, "sustained_bilateral_contact": true, "bilateral_no_long_gaps": true, "physical_pad_force": true, "pad_penetration_within_limit": true, "stable_grasp": true, "picked_object_retained_at_tail": true, "target_held_at_tail": true, "no_single_frame_teleport": true, "both_arms_at_standby": true, "no_unexpected_robot_environment_contact": true, "no_unexpected_target_contact": true, "environment_undisturbed": true, "handoff_right_gripper_closed": true, "handoff_object_height": true, "handoff_base_still": true}, "values": {"lift_max_m": 0.18669170141220093, "lift_final_m": 0.1863170862197876, "source_lift_m": 0.19755342602729797, "first_bilateral_frame": 127, "lift_frame": 178, "bilateral_fraction_tail": 1.0, "bilateral_fraction_total": 0.6768447837150128, "max_bilateral_gap_frames": 0, "min_pad_force_tail_n": 51.267892559878646, "pad_force_median_tail_n": [51.27946094643131, 57.86554604266161], "max_pad_object_penetration_m": 0.0017476502107456326, "stable_grasp_offset_change_m": 9.761914683939499e-05, "gripper_base_distance_final_m": 0.18398149809648007, "max_one_frame_displacement_m": 0.007968580350279808, "final_target_speed_mps": 0.00010928678238997236, "final_target_speed_reported_mps": 0.29182201623916626, "arm_standby_max_dev_rad": 0.00027469396591195405, "arm_standby_max_dev_vs_command_rad": 0.011346853748408936, "arm_standby_reference": "source measured arm state (mean of its last 20 frames)", "unexpected_contacts": [], "tolerated_contacts": [], "tolerated_impulse_cap_ns": 2.0, "target_unexpected_contacts": [], "target_sofa_contact_steps": 397, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 34, "object_end_xyz": [0.8234955668449402, 0.14189426600933075, 0.6410308480262756], "right_gripper_end_rad": 0.30232304334640503, "right_gripper_end_cmd_rad": 0.3033094909770499, "left_gripper_end_rad": 0.7843995094299316}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.19755342602729797, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.19755342602729797, "pad_force_n": 68.50981105760431, "maximum_pad_penetration_m": 0.0016401584725826979, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.001129542872611418, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 6.305501959374274, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 37, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 393, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 126, "release_frame": 392, "held_frames": 267, "anchor_segment": "pick_4.1", "maximum_swing_deg": 6.305501959374274, "maximum_swing_frame": 134, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 0.001129542872611418, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object travels in that frame is what separates a held object from a lost one (0.2 mm and 0.08 mm on held grasps against 211 mm on a dropped one)", "scope": "object motion in the pads own frame after first bilateral contact; diagnostic only, no gate consumes it"}, 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"video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5051, "task_index": 199, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original origins and quality labels remain annotations."}, "default_train_included": true, "quality_annotation_only": true}
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"resettled_bodies": [], "rule": "unrecorded initialisation: movers re-posed to the authored pose (+1 cm, zero velocity) up to 2 times, then accepted at rest", "ticks_per_round": 120}, "pre_settle_rounds": 1, "resettled": 0, "pick_settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 2.3466372114455137e-07, "settle_targets": "authored q0", "max_body_move_m": 2.3466372114455137e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 2.3466372114455137e-07, "settle_targets": "authored q0", "max_body_move_m": 2.3466372114455137e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "ticks": 18600, "object_xyz": [-1.9338220357894897, 0.3527850806713104, 0.44758614897727966], "pick_grip_adaptation": {"mode": "verbatim_replay", "gripper_command_modified_frames": [], "frames_verbatim": 409, "frames_total": 409, "reason": "the atomic sofa-pick commands are replayed unchanged; the right hold is blended to the 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356, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 33, "object_end_xyz": [0.894631564617157, 0.22673922777175903, 0.6512943506240845], "right_gripper_end_rad": 0.30471113324165344, "right_gripper_end_cmd_rad": 0.3033094909770499, "left_gripper_end_rad": 0.7843979001045227}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.20028376579284668, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.20028376579284668, "pad_force_n": 47.17467603630445, "maximum_pad_penetration_m": 0.0010165604762732983, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0007715597288246445, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 2.8009914000882925, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 36, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 409, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 118, "release_frame": 408, "held_frames": 291, "anchor_segment": "pick_4.1", "maximum_swing_deg": 2.8009914000882925, "maximum_swing_frame": 184, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 0.0007715597288246445, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object travels in that frame is what separates a 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"substeps_per_control_tick": 1}, "final_object": [-1.9338221549987793, 0.3527851402759552, 0.44758620858192444, 0.013251574710011482, 0.018910139799118042, 0.4879290461540222, 0.8725779056549072], "native_ticks": 18990, "physical_failures": {}, "randomization_checked": true, "physical_evidence_files": {"physical_metrics.json": "/work/episodes/slot05/attempt03/physical_metrics.json", "integrity_metrics.json": "/work/episodes/slot05/attempt03/integrity_metrics.json", "scene_metrics.json": "/work/episodes/slot05/attempt03/scene_metrics.json"}, "owner_review_status": "pending", "eligible": true, "physical_checker_updated_unix": 1791583253.1031823, "owner_gate_mapping": {"pick": "owner atomic_grasp_acceptance semantics (bilateral declared pads >= 0.05 N with <= 2-frame gaps, pad penetration <= 3 mm, no unexpected target / robot contacts, environment undisturbed 1 cm / 5 deg, stable grasp offset change <= 3 mm, lift matches the source) + the 6.9 runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics.", "place": "6.9 runner / semantic_v2 table semantics: object collision hull on the table top (xy inset 1 cm, bottom within -12 mm..+30 mm of the top), >= 30 of the last 60 ticks table-supported or sleep-supported, small post-release drop (<= 3 cm), gripper open and > 0.20 m away, stable final (198 rule); v11 owner in-hand gates (slip, pad penetration, jitter20, grip unsaturated) with the measured moving-base link transforms.", "continuous": "Native parameter/state/action/base checks, constant 60 Hz physics, all non-target bodies <= 2 cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5052, "task_index": 199, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original origins and quality labels remain annotations."}, "default_train_included": true, "quality_annotation_only": true}
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"object_params": {"target_params": {".physics:angularVelocity": [0.0, 0.0, 0.0], ".physics:kinematicEnabled": false, ".physics:mass": 0.119999997, ".physics:rigidBodyEnabled": true, ".physics:velocity": [0.0, 0.0, 0.0], ".physxRigidBody:sleepThreshold": 0.0, ".physxRigidBody:solverPositionIterationCount": 32, ".physxRigidBody:solverVelocityIterationCount": 8, ".physxRigidBody:stabilizationThreshold": 0.0, "/Obj.physics:mass": 0.0549999997, "/Obj/Geom.physics:approximation": "convexDecomposition", "/Obj/Geom.physxCollision:contactOffset": 0.00150000001, "/Obj/Geom.physxCollision:restOffset": 0.0, "/Obj/Geom.@physicsMaterial": {"physics:density": 0.0, "physics:dynamicFriction": 1.0, "physics:restitution": 0.0, "physics:staticFriction": 1.20000005, "physxMaterial:compliantContactAccelerationSpring": false, "physxMaterial:compliantContactDamping": 0.0, "physxMaterial:compliantContactStiffness": 0.0, "physxMaterial:dampingCombineMode": "average", "physxMaterial:frictionCombineMode": "max", 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[{"round": 0, "movers": [], "target_move_m": 0.0002163900644518435}], "resettled_bodies": [], "rule": "unrecorded initialisation: movers re-posed to the authored pose (+1 cm, zero velocity) up to 2 times, then accepted at rest", "ticks_per_round": 120}, "pre_settle_rounds": 1, "resettled": 0, "pick_settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 1.7120130796843852e-07, "settle_targets": "authored q0", "max_body_move_m": 1.7120130796843852e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 1.7120130796843852e-07, "settle_targets": "authored q0", "max_body_move_m": 1.7120130796843852e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "ticks": 16200, "object_xyz": [-2.1355903148651123, 0.14586803317070007, 0.4475862681865692], "pick_grip_adaptation": {"mode": "verbatim_replay", "gripper_command_modified_frames": [], "frames_verbatim": 423, "frames_total": 423, "reason": "the atomic sofa-pick 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"source_lift_m": 0.2100188136100769, "source_rise_final_m": 0.20979994535446167, "source_rise_max_m": 0.2100188136100769, "first_bilateral_frame": 118, "lift_frame": 156, "bilateral_fraction_tail": 1.0, "bilateral_fraction_total": 0.7210401891252955, "max_bilateral_gap_frames": 0, "min_pad_force_tail_n": 53.10691670278904, "pad_force_median_tail_n": [53.245843336045155, 67.05280215870766], "max_pad_object_penetration_m": 0.001044560456648469, "stable_grasp_offset_change_m": 0.00018778190208748602, "gripper_base_distance_final_m": 0.1773439940474566, "max_one_frame_displacement_m": 0.004552360624074936, "final_target_speed_mps": 0.0047508119605481625, "final_target_speed_reported_mps": 0.227680966258049, "arm_standby_max_dev_rad": 5.690455436702102e-05, "arm_standby_max_dev_vs_command_rad": 0.001551760256591983, "arm_standby_reference": "source measured arm state (mean of its last 20 frames)", "unexpected_contacts": [], "tolerated_contacts": [], "tolerated_impulse_cap_ns": 2.0, "target_unexpected_contacts": [], "target_sofa_contact_steps": 356, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 33, "object_end_xyz": [0.7686551809310913, 0.3149676024913788, 0.6623601913452148], "right_gripper_end_rad": 0.3053358197212219, "right_gripper_end_cmd_rad": 0.3033094909770499, "left_gripper_end_rad": 0.78439861536026}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.2100188136100769, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.2100188136100769, "pad_force_n": 55.56937837185298, "maximum_pad_penetration_m": 0.0012098877923563123, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0004988063839991737, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 2.5781920654770953, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 36, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 423, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 118, "release_frame": 422, "held_frames": 305, "anchor_segment": "pick_4.1", "maximum_swing_deg": 2.5781920654770953, "maximum_swing_frame": 389, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 0.0004988063839991737, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object 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{"key": "/joints/idx89_gripper_r_outer_joint0.state:angular:physics:velocity", "native": 0.0, "measured": -0.018376505, "reason": "measured simulation state"}], "reference": "/source/arena_scene/v1_2/source/geniesim/assets/robot/G1_omnipicker/robot.usda"}, "physics_rate_end": {"sim_physics_dt": 0.016666666666666666, "physxScene_timeStepsPerSecond": 60, "substeps_per_control_tick": 1}, "final_object": [-2.1355903148651123, 0.14586804807186127, 0.4475862681865692, 0.0009605450322851539, -0.023071639239788055, -0.9176390767097473, -0.39674365520477295], "native_ticks": 16548, "physical_failures": {}, "randomization_checked": true, "physical_evidence_files": {"physical_metrics.json": "/work/episodes/slot06/attempt01/physical_metrics.json", "integrity_metrics.json": "/work/episodes/slot06/attempt01/integrity_metrics.json", "scene_metrics.json": "/work/episodes/slot06/attempt01/scene_metrics.json"}, "owner_review_status": "pending", "eligible": true, "physical_checker_updated_unix": 1791620760.637879, "owner_gate_mapping": {"pick": "owner atomic_grasp_acceptance semantics (bilateral declared pads >= 0.05 N with <= 2-frame gaps, pad penetration <= 3 mm, no unexpected target / robot contacts, environment undisturbed 1 cm / 5 deg, stable grasp offset change <= 3 mm, lift matches the source) + the 6.9 runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics.", "place": "6.9 runner / semantic_v2 table semantics: object collision hull on the table top (xy inset 1 cm, bottom within -12 mm..+30 mm of the top), >= 30 of the last 60 ticks table-supported or sleep-supported, small post-release drop (<= 3 cm), gripper open and > 0.20 m away, stable final (198 rule); v11 owner in-hand gates (slip, pad penetration, jitter20, grip unsaturated) with the measured moving-base link transforms.", "continuous": "Native parameter/state/action/base checks, constant 60 Hz physics, all non-target bodies <= 2 cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5053, "task_index": 199, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original origins and quality labels remain annotations."}, "default_train_included": true, "quality_annotation_only": true}
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{"stiffness_authored": 0.0, "stiffness_readback": 0.0, "damping_authored": 0.0, "damping_readback": 0.0, "armature_authored": 0.0010000000474974513, "armature_readback": 0.0010000000474974513, "max_velocity_authored": 174.53292519943295, "max_velocity_readback": 174.53292846679688}, "idx89_gripper_r_outer_joint0": {"stiffness_authored": 0.0, "stiffness_readback": 0.0, "damping_authored": 0.0, "damping_readback": 0.0, "armature_authored": 0.0010000000474974513, "armature_readback": 0.0010000000474974513, "max_velocity_authored": 174.53292519943295, "max_velocity_readback": 174.53292846679688}}, "rtol": 1e-05, "note": "angular stiffness/damping authored per degree, read back per radian (x 180/pi); max velocity deg/s -> rad/s"}, "base_only_exception": {"native_world_anchor_disabled": true, "ideal_constraints_precreated": true, "object_constraints": 0}, "pre_settle": {"rounds": [{"round": 0, "movers": [], "target_move_m": 0.000367128464858979}], "resettled_bodies": [], "rule": "unrecorded 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[], "movers": {}}, "props_max_move_m": 0.0, "props_n": 32, "object_end_xyz": [1.0293883085250854, 0.20710411667823792, 0.6585677862167358], "right_gripper_end_rad": 0.30668309330940247, "right_gripper_end_cmd_rad": 0.30644708363063966, "left_gripper_end_rad": 0.7843946218490601}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.21108031272888184, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.21108031272888184, "pad_force_n": 35.833048523535, "maximum_pad_penetration_m": 0.0017239133594557643, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0011290322693545893, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 16.670178980465984, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 35, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 408, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 117, "release_frame": 407, "held_frames": 291, "anchor_segment": "pick_4.1", "maximum_swing_deg": 16.670178980465984, "maximum_swing_frame": 129, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": false, "offset_length_change_m": 0.0011290322693545893, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object travels in that frame is what separates a held object from a lost one (0.2 mm and 0.08 mm on held grasps against 211 mm on a dropped one)", "scope": "object motion in the pads own frame after first bilateral contact; diagnostic only, no gate consumes it"}, "pre_closure_object_motion": {"available": true, "closure_start_frame": 99, "frames": 100, "maximum_displacement_m": 8.0023536575422e-07, "maximum_displacement_frame": 64, "maximum_rotation_deg": 0.0014646834652786353, "maximum_rotation_frame": 92, "limit_m": 0.005, "limit_deg": 5.0, "undisturbed_before_closure": true, "open_pad_gap_m": 0.12431321587403442, "held_pad_gap_m": 0.060046398566494096, "scope": "object pose from the first replayed frame to the last frame at the open pad width, measured by PhysX; this is the gate the pre-closure corridor margin used to stand in for"}, "fixed_station": {"fixed_xy_m": [1.641377329826355, -0.027316495776176453], "fixed_yaw_deg": -176.45327335167724, "tolerance": {"xy_m": 0.01, "yaw_deg": 0.5}, "rule": "fixed_station_moved when the base the physics held is further than the tolerance 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moving-base link transforms.", "continuous": "Native parameter/state/action/base checks, constant 60 Hz physics, all non-target bodies <= 2 cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5054, "task_index": 199, "bundled_original_metadata": 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"object_constraints": 0}, "pre_settle": {"rounds": [{"round": 0, "movers": [], "target_move_m": 0.000241895773797296}], "resettled_bodies": [], "rule": "unrecorded initialisation: movers re-posed to the authored pose (+1 cm, zero velocity) up to 2 times, then accepted at rest", "ticks_per_round": 120}, "pre_settle_rounds": 1, "resettled": 0, "pick_settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 2.44425605272118e-07, "settle_targets": "authored q0", "max_body_move_m": 2.44425605272118e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 2.44425605272118e-07, "settle_targets": "authored q0", "max_body_move_m": 2.44425605272118e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "ticks": 12000, "object_xyz": [-2.069256067276001, -0.595982015132904, 0.44758620858192444], "pick_grip_adaptation": {"mode": "verbatim_replay", "gripper_command_modified_frames": [], "frames_verbatim": 385, 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"tolerated_contacts": [], "tolerated_impulse_cap_ns": 2.0, "target_unexpected_contacts": [], "target_sofa_contact_steps": 367, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 35, "object_end_xyz": [0.8401243686676025, 0.04257623478770256, 0.6429650783538818], "right_gripper_end_rad": 0.3053567409515381, "right_gripper_end_cmd_rad": 0.3033094909770499, "left_gripper_end_rad": 0.7843935489654541}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.1952226459980011, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.1952226459980011, "pad_force_n": 43.41170168367894, "maximum_pad_penetration_m": 0.0010423501953482628, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.002824901740800974, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 14.153064147022032, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 38, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 385, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 120, "release_frame": 384, "held_frames": 265, "anchor_segment": "pick_4.1", "maximum_swing_deg": 14.153064147022032, "maximum_swing_frame": 174, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 0.002824901740800974, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object travels in that frame is what separates a held object from a lost one (0.2 mm and 0.08 mm on held grasps against 211 mm on a dropped one)", "scope": "object motion in the pads own frame after first bilateral contact; diagnostic only, no gate consumes it"}, "pre_closure_object_motion": {"available": true, "closure_start_frame": 99, "frames": 100, "maximum_displacement_m": 4.390314281036552e-07, "maximum_displacement_frame": 5, "maximum_rotation_deg": 0.0004074316617669851, "maximum_rotation_frame": 55, "limit_m": 0.005, "limit_deg": 5.0, "undisturbed_before_closure": true, "open_pad_gap_m": 0.1240047470746384, "held_pad_gap_m": 0.05988974621554842, "scope": "object pose from the first replayed frame to the last frame at the open pad width, measured by PhysX; this is the gate the pre-closure corridor margin used to stand in for"}, "fixed_station": {"fixed_xy_m": [1.6510143280029297, -0.20973975956439972], 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true, "object_constraints": 0}, "pre_settle": {"rounds": [{"round": 0, "movers": [{"path": "/World/Assets/BaseballCap", "move_m": 2.663459300994873}], "target_move_m": 8.810922054180992e-07}, {"round": 1, "movers": [{"path": "/World/Assets/BaseballCap", "move_m": 3.0684120655059814}], "target_move_m": 9.377081937600451e-07}, {"round": 2, "movers": [{"path": "/World/Assets/BaseballCap", "move_m": 0.6720908880233765}, {"path": "/World/EpisodeDistractors/PaperCupClone1", "move_m": 0.4188406467437744}], "target_move_m": 9.373529223921651e-07}], "resettled_bodies": [{"path": "/World/Assets/BaseballCap", "settled_xyz": [0.38903141021728516, -1.0396130084991455, 1.7449336051940918], "authored_xyz": [0.8979107141494751, -1.2710607051849365, 2.118001937866211], "move_m": 0.6720908880233765}, {"path": "/World/EpisodeDistractors/PaperCupClone1", "settled_xyz": [0.7204483151435852, -1.0043449401855469, 0.4850291609764099], "authored_xyz": [0.7430219054222107, -0.5874060988426208, 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"target_sofa_contact_steps": 358, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 36, "object_end_xyz": [0.7754837870597839, -0.0685143694281578, 0.6585391759872437], "right_gripper_end_rad": 0.30298811197280884, "right_gripper_end_cmd_rad": 0.30039782355340344, "left_gripper_end_rad": 0.7844013571739197}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.22079306840896606, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "standby_tol_vs_source_measured_rad": 0.005, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.22079306840896606, "pad_force_n": 61.50504732610144, "maximum_pad_penetration_m": 0.0013421549228951335, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0015976419542415715, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 6.128422972713691, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": {"available": true, "undisturbed": true, "limit_m": 0.01, "limit_deg": 5.0, "movers": [], "checked_bodies": 39, "exempt": ["/World/Assets/Sofa"], "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support", "scope": "every dynamic non-robot body in scene_state.npz except the target and its grasp support, first frame to last", "frames": 416, "mode": "on"}, "no_unexpected_contacts": true, "held_object_contact_rule": {"mode": "environment", "impulse_floor_ns": 0.0001, "rule": "the target may touch only the gripper and its support; environment covers every non-robot body, all adds the robot links", "source": "user directive 2026-09-23 (WP43): every non-target dynamic object stays within about 1 cm / 5 deg of its start pose, and the held object touches nothing but the gripper and its support"}, "lift_swing": {"available": true, "anchor_frame": 118, "release_frame": 415, "held_frames": 298, "anchor_segment": "pick_4.1", "maximum_swing_deg": 6.128422972713691, "maximum_swing_frame": 154, "maximum_swing_segment": "pick_4.1", "limit_deg": 15.0, "swing_within_limit": true, "offset_length_change_m": 0.0015976419542415715, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad 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unexpected target / robot contacts, environment undisturbed 1 cm / 5 deg, stable grasp offset change <= 3 mm, lift matches the source) + the 6.9 runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics.", "place": "6.9 runner / semantic_v2 table semantics: object collision hull on the table top (xy inset 1 cm, bottom within -12 mm..+30 mm of the top), >= 30 of the last 60 ticks table-supported or sleep-supported, small post-release drop (<= 3 cm), gripper open and > 0.20 m away, stable final (198 rule); v11 owner in-hand gates (slip, pad penetration, jitter20, grip unsaturated) with the measured moving-base link transforms.", "continuous": "Native parameter/state/action/base checks, constant 60 Hz physics, all non-target bodies <= 2 cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5056, "task_index": 199, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original origins and quality labels remain annotations."}, "default_train_included": true, "quality_annotation_only": true}
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"object_params": {"target_params": {".physics:angularVelocity": [0.0, 0.0, 0.0], ".physics:kinematicEnabled": false, ".physics:mass": 0.119999997, ".physics:rigidBodyEnabled": true, ".physics:velocity": [0.0, 0.0, 0.0], ".physxRigidBody:sleepThreshold": 0.0, ".physxRigidBody:solverPositionIterationCount": 32, ".physxRigidBody:solverVelocityIterationCount": 8, ".physxRigidBody:stabilizationThreshold": 0.0, "/Obj.physics:mass": 0.0549999997, "/Obj/Geom.physics:approximation": "convexDecomposition", "/Obj/Geom.physxCollision:contactOffset": 0.00150000001, "/Obj/Geom.physxCollision:restOffset": 0.0, "/Obj/Geom.@physicsMaterial": {"physics:density": 0.0, "physics:dynamicFriction": 1.0, "physics:restitution": 0.0, "physics:staticFriction": 1.20000005, "physxMaterial:compliantContactAccelerationSpring": false, "physxMaterial:compliantContactDamping": 0.0, "physxMaterial:compliantContactStiffness": 0.0, "physxMaterial:dampingCombineMode": "average", "physxMaterial:frictionCombineMode": "max", 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"passed": true}, "settle": {"frames": 120, "warmup_ticks": 0, "object_move_m": 1.1944189326376765e-07, "settle_targets": "authored q0", "max_body_move_m": 1.1944189326376765e-07, "bodies_over_2mm": [], "limit_m": 0.005, "passed": true}, "ticks": 12000, "object_xyz": [-2.1250674724578857, 0.15471772849559784, 0.44758638739585876], "pick_grip_adaptation": {"mode": "verbatim_replay", "gripper_command_modified_frames": [], "frames_verbatim": 392, "frames_total": 392, "reason": "the atomic sofa-pick commands are replayed unchanged; the right hold is blended to the carry squeeze only after the atomic gates, in hold_transition"}, "grip_controller": {"mode": "recorded_applied_20hz_targets", "source": "/work/episodes/slot10/input/plan/action.npz", "fresh_support_pick": true}, "pick_acceptance": {"checks": {"target_lifted": true, "lift_matches_source": true, "object_near_gripper_base": true, "sustained_bilateral_contact": true, "bilateral_no_long_gaps": true, "physical_pad_force": true, "pad_penetration_within_limit": true, "stable_grasp": true, "picked_object_retained_at_tail": true, "target_held_at_tail": true, "no_single_frame_teleport": true, "both_arms_at_standby": true, "no_unexpected_robot_environment_contact": true, "no_unexpected_target_contact": true, "environment_undisturbed": true, "handoff_right_gripper_closed": true, "handoff_object_height": true, "handoff_base_still": true}, "values": {"lift_max_m": 0.2768268585205078, "lift_final_m": 0.2768195867538452, "source_lift_m": 0.27537667751312256, "source_rise_final_m": 0.2753749489784241, "source_rise_max_m": 0.27537667751312256, "first_bilateral_frame": 122, "lift_frame": 159, "bilateral_fraction_tail": 1.0, "bilateral_fraction_total": 0.6887755102040817, "max_bilateral_gap_frames": 0, "min_pad_force_tail_n": 59.129101823039036, "pad_force_median_tail_n": [80.9574969749425, 59.13436689786842], "max_pad_object_penetration_m": 0.0018989633535966277, "stable_grasp_offset_change_m": 1.5159282638288474e-05, 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"required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.27537667751312256, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/GlassesCase"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/GlassesCase"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.27537667751312256, "pad_force_n": 76.4565056286896, "maximum_pad_penetration_m": 0.0017725592479109764, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0007059009933639976, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 6.39380084550613, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful 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"reason": "measured simulation state"}, {"key": "/joints/idx81_gripper_r_outer_joint1.state:angular:physics:velocity", "native": 0.0, "measured": 0.000175243506, "reason": "measured simulation state"}, {"key": "/joints/idx82_gripper_r_outer_joint3.state:angular:physics:position", "native": 0.0, "measured": 3.7817328, "reason": "measured simulation state"}, {"key": "/joints/idx82_gripper_r_outer_joint3.state:angular:physics:velocity", "native": 0.0, "measured": 0.00205428805, "reason": "measured simulation state"}, {"key": "/joints/idx83_gripper_r_outer_joint4.state:angular:physics:position", "native": 0.0, "measured": 1.72181904, "reason": "measured simulation state"}, {"key": "/joints/idx83_gripper_r_outer_joint4.state:angular:physics:velocity", "native": 0.0, "measured": -0.00438331999, "reason": "measured simulation state"}, {"key": "/joints/idx89_gripper_r_outer_joint0.state:angular:physics:position", "native": 0.0, "measured": -25.5626431, "reason": "measured simulation state"}, {"key": "/joints/idx89_gripper_r_outer_joint0.state:angular:physics:velocity", "native": 0.0, "measured": 0.00345831364, "reason": "measured simulation state"}], "reference": "/source/arena_scene/v1_2/source/geniesim/assets/robot/G1_omnipicker/robot.usda"}, "physics_rate_end": {"sim_physics_dt": 0.016666666666666666, "physxScene_timeStepsPerSecond": 60, "substeps_per_control_tick": 1}, "final_object": [-1.976210117340088, 0.13929711282253265, 0.4475862979888916, -0.022233109921216965, 0.00624667527154088, 0.6618891954421997, -0.7492459416389465], "native_ticks": 12969, "physical_failures": {}, "randomization_checked": true, "physical_evidence_files": {"physical_metrics.json": "/work/episodes/slot11/attempt01/physical_metrics.json", "integrity_metrics.json": "/work/episodes/slot11/attempt01/integrity_metrics.json", "scene_metrics.json": "/work/episodes/slot11/attempt01/scene_metrics.json"}, "owner_review_status": "pending", "eligible": true, "physical_checker_updated_unix": 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cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5058, "task_index": 199, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original origins and quality labels remain annotations."}, "default_train_included": true, "quality_annotation_only": true}
{"episode_index": 4983, "source_id": "short17.songyao_mixed50_20261009/slot12/attempt01", "task_kind": "short", "structural_pass": true, "source_review": {"passed": true, "continuous_episode": true, "physical_grasp": true, "task_success": true, "pick_passed": true, "carry_passed": true, "place_passed": true, "object_pose_writes_during_episode": 0, "state_resets_during_episode": 0, "object_attachment_count": 0, "locomotion_model": "ideal_g1_reference", "owner_approved": false, "source_job": "/work/episodes/slot12/input/job.json", "started_unix": 1791605132.1617417, "short_task": "6", "family": "wallet_short", "case_number": 2, "pick_task": "4.7", "place_task": "6.9", "object": "wallet", "runner": "run_episode_short6.py", "args": {"job": "/work/episodes/slot12/input/job.json", "output": "/work/episodes/slot12/attempt01/physics", "stop_after_pick": false, "stop_after_carry": false, "settle_frames": 120, "frame0_extra_ticks": 0, "carry_torque": 32, "place_torque": 32, "carry_lift": null, 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"object_xyz": [-2.1488242149353027, 0.2178114801645279, 0.4754104018211365], "pick_grip_adaptation": {"mode": "verbatim_replay", "gripper_command_modified_frames": [], "frames_verbatim": 953, "frames_total": 953, "reason": "the atomic sofa-pick commands are replayed unchanged; the right hold is blended to the carry squeeze only after the atomic gates, in hold_transition"}, "grip_controller": {"mode": "recorded_applied_20hz_targets", "source": "/work/episodes/slot12/input/plan/action.npz", "fresh_support_pick": true}, "pick_acceptance": {"checks": {"target_lifted": true, "lift_matches_source": true, "object_near_gripper_base": true, "sustained_bilateral_contact": true, "bilateral_no_long_gaps": true, "physical_pad_force": true, "pad_penetration_within_limit": true, "stable_grasp": true, "picked_object_retained_at_tail": true, "target_held_at_tail": true, "no_single_frame_teleport": true, "both_arms_at_standby": true, "no_unexpected_robot_environment_contact": true, "no_unexpected_target_contact": true, "environment_undisturbed": true, "handoff_right_gripper_closed": true, "handoff_object_height": true, "handoff_base_still": true}, "values": {"lift_max_m": 0.3222142457962036, "lift_final_m": 0.26637935638427734, "source_lift_m": 0.32826292514801025, "source_rise_final_m": 0.27337586879730225, "source_rise_max_m": 0.32826292514801025, "first_bilateral_frame": 460, "lift_frame": 592, "bilateral_fraction_tail": 1.0, "bilateral_fraction_total": 0.5173137460650578, "max_bilateral_gap_frames": 0, "min_pad_force_tail_n": 39.92721249171394, "pad_force_median_tail_n": [39.92836704753067, 50.48086605537607], "max_pad_object_penetration_m": 0.0014391520526260138, "stable_grasp_offset_change_m": 1.103091624687913e-05, "gripper_base_distance_final_m": 0.19771200932878302, "max_one_frame_displacement_m": 0.004246395081281662, "final_target_speed_mps": 1.4697107872052584e-05, "final_target_speed_reported_mps": 0.3899294137954712, "arm_standby_max_dev_rad": 0.0005927383899688721, "arm_standby_max_dev_vs_command_rad": 0.0011586863096497702, "arm_standby_reference": "source measured arm state (mean of its last 20 frames)", "unexpected_contacts": [], "tolerated_contacts": [], "tolerated_impulse_cap_ns": 2.0, "target_unexpected_contacts": [], "target_sofa_contact_steps": 1587, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 35, "object_end_xyz": [1.2222458124160767, -0.463413268327713, 0.730758547782898], "right_gripper_end_rad": 0.14146719872951508, "right_gripper_end_cmd_rad": 0.1384524902307517, "left_gripper_end_rad": 0.7844029068946838}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.32826292514801025, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/Wallet"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/Wallet"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.32826292514801025, "pad_force_n": 81.38128777536528, "maximum_pad_penetration_m": 0.00199901289306581, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0008226290300790209, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 104.57167720420712, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": null, "no_unexpected_contacts": true, "held_object_contact_rule": null, "lift_swing": {"available": true, "anchor_frame": 449, "release_frame": 952, "held_frames": 504, "anchor_segment": "pick_4.7", "maximum_swing_deg": 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"reason": "measured simulation state"}, {"key": "/joints/idx82_gripper_r_outer_joint3.state:angular:physics:position", "native": 0.0, "measured": 4.47312069, "reason": "measured simulation state"}, {"key": "/joints/idx82_gripper_r_outer_joint3.state:angular:physics:velocity", "native": 0.0, "measured": 0.101864375, "reason": "measured simulation state"}, {"key": "/joints/idx83_gripper_r_outer_joint4.state:angular:physics:position", "native": 0.0, "measured": -0.209581137, "reason": "measured simulation state"}, {"key": "/joints/idx83_gripper_r_outer_joint4.state:angular:physics:velocity", "native": 0.0, "measured": -0.28403759, "reason": "measured simulation state"}, {"key": "/joints/idx89_gripper_r_outer_joint0.state:angular:physics:position", "native": 0.0, "measured": -23.9409466, "reason": "measured simulation state"}, {"key": "/joints/idx89_gripper_r_outer_joint0.state:angular:physics:velocity", "native": 0.0, "measured": 0.237570733, "reason": "measured simulation state"}], "reference": "/source/arena_scene/v1_2/source/geniesim/assets/robot/G1_omnipicker/robot.usda"}, "physics_rate_end": {"sim_physics_dt": 0.016666666666666666, "physxScene_timeStepsPerSecond": 60, "substeps_per_control_tick": 1}, "final_object": [-2.149315118789673, 0.21894489228725433, 0.47436681389808655, 0.7069819569587708, -0.70452481508255, -0.027027685195207596, -0.05559508875012398], "native_ticks": 17379, "physical_failures": {}, "randomization_checked": true, "physical_evidence_files": {"physical_metrics.json": "/work/episodes/slot12/attempt01/physical_metrics.json", "integrity_metrics.json": "/work/episodes/slot12/attempt01/integrity_metrics.json", "scene_metrics.json": "/work/episodes/slot12/attempt01/scene_metrics.json"}, "owner_review_status": "pending", "eligible": true, "physical_checker_updated_unix": 1791606219.131471, "owner_gate_mapping": {"pick": "owner atomic_grasp_acceptance semantics (bilateral declared pads >= 0.05 N with <= 2-frame gaps, pad penetration <= 3 mm, no unexpected target / robot contacts, environment undisturbed 1 cm / 5 deg, stable grasp offset change <= 3 mm, lift matches the source) + the 6.9 runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics.", "place": "6.9 runner / semantic_v2 table semantics: object collision hull on the table top (xy inset 1 cm, bottom within -12 mm..+30 mm of the top), >= 30 of the last 60 ticks table-supported or sleep-supported, small post-release drop (<= 3 cm), gripper open and > 0.20 m away, stable final (198 rule); v11 owner in-hand gates (slip, pad penetration, jitter20, grip unsaturated) with the measured moving-base link transforms.", "continuous": "Native parameter/state/action/base checks, constant 60 Hz physics, all non-target bodies <= 2 cm / 5 deg (sofa exempt, reported), no unintended robot-environment impulse (light gripper-table contact while placing listed as a waiver), no robot self-collision.", "boundaries": "Fresh atomic initialization once (source frame-0 stage with the recorded poses); the held object stays the physically grasped one through carry and place; no state replacement."}, "video_qc_status": "passed"}, "source_success": true, "limitations": [], "owner_approval_added": false, "quality_filter_applied": false, "note": "Original source flags retained without imposing a common task-success checker.", "merge_origin": {"source_dataset": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/union/main_source_without_cloth", "origin_label": "retained5080", "episode_index": 5059, "task_index": 200, "bundled_original_metadata": "auxiliary/retained5080/meta"}, "version_decision": {"choice": "preserve_all_user_selected_records", "reason": "Shape-compatible source projection; original origins and quality labels remain annotations."}, "default_train_included": true, "quality_annotation_only": true}
{"episode_index": 4984, "source_id": "short17.songyao_mixed50_20261009/slot13/attempt01", "task_kind": "short", "structural_pass": true, "source_review": {"passed": true, "continuous_episode": true, "physical_grasp": true, "task_success": true, "pick_passed": true, "carry_passed": true, "place_passed": true, "object_pose_writes_during_episode": 0, "state_resets_during_episode": 0, "object_attachment_count": 0, "locomotion_model": "ideal_g1_reference", "owner_approved": false, "source_job": "/work/episodes/slot13/input/job.json", "started_unix": 1791606088.647487, "short_task": "6", "family": "wallet_short", "case_number": 3, "pick_task": "4.7", "place_task": "6.9", "object": "wallet", "runner": "run_episode_short6.py", "args": {"job": "/work/episodes/slot13/input/job.json", "output": "/work/episodes/slot13/attempt01/physics", "stop_after_pick": false, "stop_after_carry": false, "settle_frames": 120, "frame0_extra_ticks": 0, "carry_torque": 32, "place_torque": 32, "carry_lift": null, 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"physxScene:enableStabilization": false}, "scene_ok": true, "nonrobot_rigid_sleep0": 36, "nonrobot_articulation_sleep0": ["/World/Assets/DiningTableMicrowave/Asset", "/World/Background/Shell/KitchenRefrigerator"], "instance_proxy_bodies_not_set": [], "sleep_readback_bad": [], "robot": {"robot_usda": "/opt/dlami/nvme/alienware/runtime/house/source/geniesim/assets/robot/G1_omnipicker/robot.usda", "robot_usda_sha256": "c38464eedf13b5b678f7e027c7569b6be095c1a69a90f712502e420bb89743a3", "sha_ok": true, "n_params_robot_usda": 2911, "n_params_now": 2911, "n_compared": 2911, "other_diffs": [], "n_other_diffs": 0, "other_diff_kinds": [], "collision_profile_diffs": 0, "placement": [], "collision_profile_kinds": [], "materials": ["GripMat", "GripperMaterial", "PhysicsMaterial"], "params_sha256": "644df761e281496f365a38478e712db3b625d73c12a191eba4f5049580d472cb", "ok": true}, "object_params": {"target_params": {".physics:angularVelocity": [0.0, 0.0, 0.0], ".physics:kinematicEnabled": false, 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"/work/episodes/slot13/input/plan/action.npz", "fresh_support_pick": true}, "pick_acceptance": {"checks": {"target_lifted": true, "lift_matches_source": true, "object_near_gripper_base": true, "sustained_bilateral_contact": true, "bilateral_no_long_gaps": true, "physical_pad_force": true, "pad_penetration_within_limit": true, "stable_grasp": true, "picked_object_retained_at_tail": true, "target_held_at_tail": true, "no_single_frame_teleport": true, "both_arms_at_standby": true, "no_unexpected_robot_environment_contact": true, "no_unexpected_target_contact": true, "environment_undisturbed": true, "handoff_right_gripper_closed": true, "handoff_object_height": true, "handoff_base_still": true}, "values": {"lift_max_m": 0.32213670015335083, "lift_final_m": 0.25062108039855957, "source_lift_m": 0.32332220673561096, "source_rise_final_m": 0.25232866406440735, "source_rise_max_m": 0.32332220673561096, "first_bilateral_frame": 528, "lift_frame": 593, "bilateral_fraction_tail": 1.0, "bilateral_fraction_total": 0.45454545454545453, "max_bilateral_gap_frames": 0, "min_pad_force_tail_n": 51.60461651496788, "pad_force_median_tail_n": [53.52117982415222, 51.605939127353125], "max_pad_object_penetration_m": 0.0011422444367781281, "stable_grasp_offset_change_m": 7.201688028435349e-05, "gripper_base_distance_final_m": 0.19825803965138267, "max_one_frame_displacement_m": 0.004467464517802, "final_target_speed_mps": 1.5090690794750117e-05, "final_target_speed_reported_mps": 0.17211730778217316, "arm_standby_max_dev_rad": 0.00015278160572052002, "arm_standby_max_dev_vs_command_rad": 0.001317997243688973, "arm_standby_reference": "source measured arm state (mean of its last 20 frames)", "unexpected_contacts": [], "tolerated_contacts": [], "tolerated_impulse_cap_ns": 2.0, "target_unexpected_contacts": [], "target_sofa_contact_steps": 1597, "props_detail": {"robot_attributed": [], "spontaneous": [], "movers": {}}, "props_max_move_m": 0.0, "props_n": 35, "object_end_xyz": [1.2202380895614624, -0.44293302297592163, 0.7188429236412048], "right_gripper_end_rad": 0.12130441516637802, "right_gripper_end_cmd_rad": 0.11741109626984532, "left_gripper_end_rad": 0.7844081521034241}, "thresholds": {"contact_force_threshold_n": 0.05, "max_contact_gap_frames": 2, "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"], "max_pad_object_penetration_m": 0.003, "lift_min_m": 0.1, "source_lift_m": 0.32332220673561096, "source_lift_tolerance_m": 0.02, "max_gripper_base_distance_m": 0.3, "gripper_base_link": "/World/Robot/gripper_r_base_link", "tail_frames": 20, "bilateral_fraction_min": 0.9, "min_pad_force_n": 3.0, "max_one_frame_displacement_m": 0.12, "final_speed_max_mps": 0.2, "stable_grasp_offset_change_max_m": 0.003, "environment_max_m": 0.01, "environment_max_deg": 5.0, "environment_exempt": ["/World/Assets/Sofa", "/World/Assets/Wallet"], "allowed_target_contact_prefixes": ["/World/Robot/gripper_r_", "/World/Assets/Sofa"], "allowed_robot_contacts": [["gripper_r_", "/World/Assets/Wallet"], ["gripper_r_", "/World/Assets/Sofa"]], "recovery_contact_impulse_max_ns": 0.0001, "standby_tol_rad": 0.002, "rule": "owner atomic_grasp_acceptance semantics (pads declared by the job, 3 mm penetration, no unexpected target contacts, environment undisturbed 1 cm / 5 deg with the sofa exempt, stable grasp offset change <= 3 mm) + the other team runner pick check (rise > 0.10 m, object < 0.30 m from gripper_r_base_link), recomputed per 20 Hz frame on this episode own 60 Hz physics"}, "source_acceptance": {"passed": true, "handoff_gate_passed": true, "lift_m": 0.32332220673561096, "pad_force_n": 61.17634949886855, "maximum_pad_penetration_m": 0.0014138814294710755, "allowed_pad_penetration_m": 0.003, "stable_grasp": true, "stable_grasp_rule": {"offset_length_change_m": 0.0008363156788743567, "limit_m": 0.003, "upstream_stable_grasp": true, "maximum_swing_deg": 110.96704604688246, "swing_recorded_not_gated": true, "calibration": "147 known-successful runs: offset_length_change_m q50 0.479 mm, q95 1.744, q99 2.481, max 2.962; maximum_swing_deg exceeds its own 15 deg limit on 147 of 147 and is recorded, not gated", "source": "plan section 15 calibration on known-successful trajectories"}, "environment": null, "no_unexpected_contacts": true, "held_object_contact_rule": null, "lift_swing": {"available": true, "anchor_frame": 527, "release_frame": 967, "held_frames": 441, "anchor_segment": "pick_4.7", "maximum_swing_deg": 110.96704604688246, "maximum_swing_frame": 915, "maximum_swing_segment": "pick_4.7", "limit_deg": 15.0, "swing_within_limit": false, "offset_length_change_m": 0.0008363156788743567, "offset_length_limit_m": 0.005, "stable_grasp": true, "note": "the swept angle also exceeds 15 degrees on witness grasps that held to 30 N, because the offset is short near the pad midpoint; the distance the object travels in that frame is what separates a held object from a lost one (0.2 mm and 0.08 mm on held grasps against 211 mm on a dropped one)", "scope": "object motion in the pads own frame after first bilateral contact; diagnostic only, no gate consumes it"}, "pre_closure_object_motion": {"available": true, "closure_start_frame": 0, "frames": 1, "maximum_displacement_m": 0.0, "maximum_displacement_frame": 0, "maximum_rotation_deg": 0.0, "maximum_rotation_frame": 0, "limit_m": 0.005, "limit_deg": 5.0, "undisturbed_before_closure": true, "open_pad_gap_m": 0.1083302394969584, "held_pad_gap_m": 0.027299270790292658, "scope": "object pose from the first replayed frame to the last frame at the open pad width, measured by PhysX; this is the gate the pre-closure corridor margin used to stand in for"}, "fixed_station": null, "active_hand": "right", "required_bilateral_pad_body_paths": ["/World/Robot/gripper_r_inner_link4", "/World/Robot/gripper_r_outer_link4"]}, "source_measurements": {"lift_max_m": 0.3233221471309662, "lift_final_m": 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"pad_penetration_within_limit": true, "stable_grasp": true, "picked_object_retained_at_tail": true, "target_held_at_tail": true, "no_single_frame_teleport": true, "both_arms_at_standby": true, "no_unexpected_robot_environment_contact": true, "no_unexpected_target_contact": true, "environment_undisturbed": true, "handoff_right_gripper_closed": true, "handoff_object_height": true, "handoff_base_still": true}, "passed": true, "alias_of": "pick_acceptance"}, "pick_details": {"rise_m": 0.25062108039855957, "lift_max_m": 0.32213670015335083, "near_hand_m": 0.19825803965138267}, "pick_phases": {"effective": {"right_close": [438], "settle": [528], "lift": [537], "standby": [857], "hold": [948], "close": [438]}, "source": "measured_in_replay", "plan": {"right_close": [438], "settle": [526], "lift": [560], "standby": [857], "hold": [948], "close": [438]}}, "gates": {"target_lifted": true, "lift_matches_source": true, "object_near_gripper_base": true, "sustained_bilateral_contact": true, 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