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detour_ahead2_s1/pickup_v563_08_attempt_01/avatar_0/avatar_motion_audit.json

@@ -0,0 +1,14 @@
+{
+  "samples": 1241,
+  "arm_torso_clip_steps": 1241,
+  "maximum_arm_torso_vertex_penetration_m": 0.04805768406704135,
+  "tolerance_m": 0.003,
+  "worst": {
+    "time_s": 3.1,
+    "pair": [
+      "L_ForearmTwist01",
+      "Spine01"
+    ]
+  },
+  "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/avatar_1/avatar_motion_audit.json

@@ -0,0 +1,8 @@
+{
+  "samples": 1241,
+  "arm_torso_clip_steps": 0,
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "tolerance_m": 0.003,
+  "worst": null,
+  "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/avatar_motion_audit.json

@@ -0,0 +1,32 @@
+{
+  "arm_torso_clip_steps": 0,
+  "people": [
+    {
+      "samples": 1241,
+      "arm_torso_clip_steps": 0,
+      "maximum_arm_torso_vertex_penetration_m": 0.0,
+      "tolerance_m": 0.003,
+      "worst": null,
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "background_people": [
+    {
+      "samples": 1241,
+      "arm_torso_clip_steps": 1241,
+      "maximum_arm_torso_vertex_penetration_m": 0.04805768406704135,
+      "tolerance_m": 0.003,
+      "worst": {
+        "time_s": 3.1,
+        "pair": [
+          "L_ForearmTwist01",
+          "Spine01"
+        ]
+      },
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "background_arm_torso_clip_steps": 1241,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.04805768406704135
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/cameras/camera_manifest.json

@@ -0,0 +1,232 @@
+{
+  "head_cam": {
+    "mount_link": "camera_color_optical_frame",
+    "configuration": {
+      "type": "camera",
+      "mesh": "pinhole",
+      "resolution": [
+        720,
+        1280
+      ],
+      "frequency": 30,
+      "calibration": {
+        "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+        "device": "head_d435i",
+        "profile": "color_1280x720",
+        "image_model": "rectified",
+        "image_fit": "native",
+        "image_rotation_clockwise_deg": 90,
+        "expected_sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba"
+      },
+      "clipping_range": [
+        0.05,
+        10.0
+      ],
+      "focus_distance": 2,
+      "mode": "RGB",
+      "mount_link": "Robot_0/camera_color_optical_frame",
+      "pos": [
+        0,
+        0,
+        0
+      ],
+      "ori": [
+        180,
+        0,
+        90
+      ]
+    },
+    "intrinsics": [
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+        1.0
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+    ],
+    "depth": "ideal axial renderer depth in metres, registered to existing RGB",
+    "calibration": {
+      "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+      "sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba",
+      "device": "head_d435i",
+      "serial_number": "239722072992",
+      "profile": "color_1280x720",
+      "source_resolution": [
+        1280,
+        720
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+      "resolution": [
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+        1280
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+      "image_rotation_clockwise_deg": 90,
+      "resize": "none; native resolution after square-pixel rectification and rotation",
+      "rectified_source_focal_pixels": 912.7807312011715,
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+      "image_model": "rectified",
+      "source_distortion": {
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+        "coefficients": [
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+      },
+      "depth": "ideal axial depth in metres, rendered in the rectified color frame",
+      "raw_depth_to_color_applied": false,
+      "limitations": "No raw lens distortion, stereo occlusion/noise or separate depth imager is simulated. Robot mounting poses come from the existing URDF."
+    }
+  },
+  "wrist_cam": {
+    "mount_link": "gripper_camera_color_optical_frame",
+    "configuration": {
+      "type": "camera",
+      "mesh": "pinhole",
+      "resolution": [
+        640,
+        480
+      ],
+      "frequency": 30,
+      "calibration": {
+        "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+        "device": "wrist_d405",
+        "profile": "color_640x480",
+        "image_model": "rectified",
+        "image_fit": "native",
+        "image_rotation_clockwise_deg": 0,
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+      },
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+        5.0
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+      "focus_distance": 0.3,
+      "mode": "RGB",
+      "mount_link": "Robot_0/gripper_camera_color_optical_frame",
+      "pos": [
+        0,
+        0,
+        0
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+      "ori": [
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+    "depth": "ideal axial renderer depth in metres, registered to existing RGB",
+    "calibration": {
+      "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+      "sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba",
+      "device": "wrist_d405",
+      "serial_number": "128422270608",
+      "profile": "color_640x480",
+      "source_resolution": [
+        640,
+        480
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+      "resolution": [
+        640,
+        480
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+      "resize": "none; native resolution after square-pixel rectification and rotation",
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+      "intrinsics": [
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+      "depth": "ideal axial depth in metres, rendered in the rectified color frame",
+      "raw_depth_to_color_applied": false,
+      "limitations": "No raw lens distortion, stereo occlusion/noise or separate depth imager is simulated. Robot mounting poses come from the existing URDF."
+    }
+  }
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/cameras/capture_delivery.json

@@ -0,0 +1,5 @@
+{
+  "wait_idle": 1,
+  "render_complete_order": 1000,
+  "source": "existing live render-product annotators"
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/controller_settings.json

@@ -0,0 +1,68 @@
+{
+  "motion_source": "NavTo/DWB + HRI expert",
+  "curobo_role": "HRI expert geometry and independent audits",
+  "visibility_trigger": "at least three sampled visible person depth pixels in either onboard camera",
+  "visibility_trigger_range_m": 2.0,
+  "occlusion_policy": "last_observed_surface_kept_3s_without_hidden_tracking",
+  "navigation": {
+    "goal": [
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+      -0.33019880542098523,
+      0.0
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+    "person_start": [
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+      -3.0,
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+    "person_goal": [
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+      0.0,
+      0.0
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+    "crossing_start_x": -1.45,
+    "walk_speed": 0.5,
+    "stop_hold_s": 4.0,
+    "surface_padding_m": 0.2,
+    "dwb": {
+      "device": "cpu",
+      "dt": 0.1,
+      "num_rollout_steps": 30,
+      "num_speed_samples": 15,
+      "num_steer_samples": 21,
+      "max_accel": 0.4,
+      "max_steer_rate": 2.0,
+      "min_speed": 0.0,
+      "max_speed": 0.22,
+      "min_yaw_rate": -0.45,
+      "max_yaw_rate": 0.45,
+      "w_goal": 6.0,
+      "w_path": 8.0,
+      "w_vel": 4.0,
+      "w_heading": 0.5,
+      "goal_heading_fade_distance": 0.5,
+      "dilate_radius": 0.52,
+      "room_size": 12.0,
+      "occupancy_update_interval": 1,
+      "goal_pos_threshold": 0.02,
+      "goal_yaw_threshold": 0.08,
+      "kp_goal_yaw": 1.0,
+      "safety_enabled": true,
+      "safety_deceleration": 0.2,
+      "safety_reaction_time": 0.1,
+      "detour_replan": true,
+      "detour_plan_initial": false,
+      "detour_hold_s": 1.5,
+      "detour_replan_interval_s": 1.0,
+      "detour_clearance_cells": 14,
+      "goal_cost_mode": "path"
+    },
+    "detour_goal": [
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+      0.0,
+      0.0
+    ],
+    "trigger_distance_m": 2.0,
+    "occupancy_memory_s": 3.0
+  }
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/execution_audit.json

@@ -0,0 +1,41 @@
+{
+  "action_dimension": 8,
+  "command_applications": 1240,
+  "env_episode_steps": 1240,
+  "last_control_dt_s": 0.10000000521540642,
+  "post_episode_base_velocity_targets": [
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+    0.0,
+    0.0
+  ],
+  "error_base_velocity_targets": null,
+  "final_terminated": true,
+  "final_truncated": false,
+  "final_hri_grade": [
+    {
+      "grading_policy": "visible_camera_outcomes_v2",
+      "visibility_warnings": [
+        "unseen_nearby_hazard"
+      ],
+      "time_s": 124.0,
+      "terminal": true,
+      "verdict": "accept",
+      "rejection_reasons": [],
+      "task_success": true,
+      "human_interaction_complete": true,
+      "minimum_human_distance_m": 0.15533573995226083,
+      "minimum_static_distance_m": 0.03874993324279785,
+      "contact_steps": 0,
+      "margin_violation_steps": 0,
+      "static_margin_violation_steps": 0,
+      "critical_blind_steps": 0,
+      "unseen_hazard_steps": 4,
+      "camera_timestamp_mismatch_steps": 0,
+      "incomplete_physics_audit_steps": 0,
+      "time_to_completion_s": 123.0,
+      "goal_error_m": 0.0,
+      "post_step_gap_m": 0.49922955606786723,
+      "physics_ticks": 6
+    }
+  ]
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/execution_settings.json

@@ -0,0 +1,62 @@
+{
+  "execution_path": "env",
+  "control_dt_s": 0.1,
+  "physics_dt_s": 0.016666666666666666,
+  "decimation": 6,
+  "debug_snapshots": false,
+  "debug_logs": false,
+  "step_log_format": "compact_v1",
+  "command_names": [
+    "forward_m_s",
+    "yaw_rad_s",
+    "lift_m_s",
+    "total_extension_m_s",
+    "wrist_yaw_target_rad",
+    "head_pan_target_rad",
+    "gripper_close",
+    "wrist_pitch_target_rad"
+  ],
+  "gripper": "native binary action: 0 open, 1 close",
+  "gripper_drive": "stock (stiffness 100, damping 10, effort 5)",
+  "gripper_close_s": 1.0,
+  "finger_coupling": true,
+  "finger_joint_limits_rad": [
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+      0.3700000047683716
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+    [
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+  ],
+  "gripper_open_rad": 0.32,
+  "fingertip_friction": {
+    "static_friction": 1.5,
+    "dynamic_friction": 1.3
+  },
+  "fingertip_friction_report": {
+    "shapes": {
+      "link_gripper_finger_left": 1,
+      "link_gripper_finger_right": 1,
+      "link_gripper_fingertip_left": 1,
+      "link_gripper_fingertip_right": 1
+    },
+    "stock_static_dynamic_restitution": [
+      [
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+        0.5,
+        0.0
+      ]
+    ],
+    "read_back_static_dynamic": [
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+      1.2999999523162842
+    ]
+  },
+  "arm_hold": true,
+  "grasp_from_live_apple": true,
+  "execution_noise": "execution_noise_v4",
+  "episode_owner": "independent post-physics grader (Step 3)",
+  "invalid_env_command": "zero motion; malformed shape stops base then raises"
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/human_fit.json

@@ -0,0 +1,16 @@
+{
+  "people": [
+    {
+      "spheres": 833,
+      "bone_parts": 79,
+      "max_uncovered_vertex_m": 0.0,
+      "method": "OBB cell circumspheres over existing MagicSim bone colliders"
+    },
+    {
+      "spheres": 907,
+      "bone_parts": 84,
+      "max_uncovered_vertex_m": 0.0,
+      "method": "OBB cell circumspheres over existing MagicSim bone colliders"
+    }
+  ]
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/metrics.json

@@ -0,0 +1,1103 @@
+{
+  "scenario": "hri_nav_apple",
+  "steps": 1240,
+  "minimum_human_distance_m": 0.15533573995226083,
+  "margin_m": 0.09,
+  "margin_violation_steps": 0,
+  "any_contact": false,
+  "contact_steps": 0,
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+  "time_to_completion_s": 123.0,
+  "episode_time_s": 124.0,
+  "modes": {
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+    "braking": 6,
+    "holding": 40,
+    "detour": 381,
+    "task": 482,
+    "wait_infeasible": 1,
+    "wait": 255,
+    "retreat": 21,
+    "brake_visibility_loss": 28
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+  "solve_median_s": 0.027530622202903032,
+  "max_measured_lateral_speed_m_s": 0.009895297724045897,
+  "error": null,
+  "validation": "Isaac Sim PhysX contact reports; robot-sphere to human-sphere clearance (not independent mesh clearance)",
+  "arm_torso_clip_steps": 0,
+  "people": [
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+      "arm_torso_clip_steps": 0,
+      "maximum_arm_torso_vertex_penetration_m": 0.0,
+      "tolerance_m": 0.003,
+      "worst": null,
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "background_people": [
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+      "arm_torso_clip_steps": 1241,
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+      "tolerance_m": 0.003,
+      "worst": {
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+        "pair": [
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+          "Spine01"
+        ]
+      },
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "background_arm_torso_clip_steps": 1241,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.04805768406704135,
+  "end_reason": "task_success",
+  "basic_task": "pickup",
+  "person_motion": {
+    "task": "detour_pickup",
+    "crossing_required": true,
+    "hand_intrusion_required": true,
+    "crossing": {
+      "behaviour": "pause",
+      "avatar": "BusinessFemale02",
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+      "arrived_s": 25.800000000000004,
+      "stage": "arrived",
+      "events": [
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+        [
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+        [
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+        [
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+    "base_retreat": {
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+      "started_s": 51.4,
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+      "started_s": 101.5,
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+      "heading_error_after_m": -0.0003,
+      "lateral_error_after_m": 0.061,
+      "park_error_m": 0.2383
+    }
+  },
+  "avoidance_source": "camera_depth",
+  "grading_mode": "basic",
+  "critical_blind_steps": 0,
+  "head_joint_targets_rad": {
+    "navigation": [
+      "tracks_declared_apple",
+      -0.6
+    ],
+    "manipulation": [
+      "tracks_declared_apple",
+      -0.6
+    ]
+  },
+  "occlusion_policy": "last_observed_surface_kept_3s_without_hidden_tracking",
+  "avoidance_steps_without_person_pixels": 0,
+  "demonstration_exclusion_reasons": [],
+  "demonstration_accepted": true,
+  "execution_noise": {
+    "profile": "execution_noise_v4",
+    "seed": 47215384,
+    "label": "expert intended command; the applied command is in action.applied / steps.jsonl",
+    "windows": [
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+      {
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+      {
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+        "params": {
+          "yaw_mode": "scale",
+          "yaw_scale": 1.8824,
+          "yaw_offset_rad_s": -0.1764,
+          "forward_offset_m_s": -0.0202
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+        "steps": 8,
+        "end_s": 13.7,
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+      {
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+      {
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+        "end_s": 30.9,
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+      {
+        "id": 5,
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+        "planned_end_s": 36.24,
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+        "end_s": 36.3,
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+      {
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+      {
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+        "params": {
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+        "steps": 13,
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+        "truncated_by_phase": null
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+    ],
+    "window_count": 8,
+    "control_steps": 1240,
+    "perturbed_steps": 102,
+    "perturbed_steps_by_kind": {
+      "head": 94,
+      "base": 8
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+    "skipped_starts_by_phase": {
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+      "approach": 1,
+      "close": 1,
+      "lift": 2,
+      "retract": 3
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+    "forbidden_phases": [
+      "wait",
+      "above_grasp",
+      "approach",
+      "close",
+      "lift",
+      "retract",
+      "hold"
+    ],
+    "base_windows_need_forward_m_s": [
+      0.035,
+      0.03
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+    "phase_kinds": {
+      "navigate": [
+        "base",
+        "head"
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+      "dock": [
+        "base",
+        "head"
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+      "settle": [
+        "head"
+      ],
+      "look": [
+        "head"
+      ],
+      "lift_clearance": [
+        "head"
+      ],
+      "raise": [
+        "head",
+        "arm"
+      ]
+    }
+  },
+  "legacy_endpoint_metrics": {
+    "minimum_human_distance_m": 0.15533573995226083,
+    "margin_violation_steps": 0,
+    "critical_blind_steps": 0,
+    "task_success": true,
+    "time_to_completion_s": 123.0
+  },
+  "grading_policy": "visible_camera_outcomes_v2",
+  "visibility_warnings": [
+    "unseen_nearby_hazard"
+  ],
+  "human_interaction_complete": true,
+  "minimum_static_distance_m": 0.03874993324279785,
+  "static_margin_violation_steps": 0,
+  "unseen_hazard_steps": 4,
+  "camera_timestamp_mismatch_steps": 0,
+  "incomplete_physics_audit_steps": 0,
+  "grader": "independent_post_physics_v1",
+  "grade_episode_finished": true,
+  "grade_evidence_complete": true,
+  "human_margin_m": 0.09,
+  "static_margin_m": 0.01125,
+  "static_distance_cap_m": 0.3,
+  "clearance_sample_mode": "control_endpoints",
+  "substep_clearance_available": false,
+  "grading_scope": "Same robot/human sphere models, measured before and after each six-tick interval. Native PhysX human contacts accumulate throughout physics. Closest near bone-part visibility audited as a warning at both camera endpoints, including while stationary. Intermediate clearances are unavailable without a timing-perturbing observer; not an independent mesh-clearance proof.",
+  "execution_kind": "navto_dwb_hri_sequence",
+  "navigation_behavior": {
+    "first_visible_s": 2.6,
+    "stopped_s": 3.2,
+    "resumed_s": 7.4,
+    "slowing_commands": 5,
+    "hidden_braking_steps": 0,
+    "max_detour_m": 0.7913083406979121,
+    "max_turn_rad": 0.9202468363306365,
+    "max_route_deviation_m": 0.7913083406979121,
+    "max_heading_deviation_rad": 0.9202468363306365
+  },
+  "apple_pickup": {
+    "lifted_s": 117.3,
+    "held_retracted_s": 124.0,
+    "maximum_lift_m": 0.07484447956085205
+  },
+  "head_joint_max_travel_rad": 1.5710015296781856,
+  "pose_policy": {
+    "wrist_grasp_from_start": false,
+    "head_forward": false,
+    "head_track_apple": true
+  },
+  "desk_reserve_m": 0.0225,
+  "desk_reserve_experiment": false,
+  "predicted_grasp_desk_clearance_m": 0.035363385493443665,
+  "grasp_clearance_below_reserve": false
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/preflight.json

@@ -0,0 +1,13 @@
+{
+  "valid": true,
+  "reasons": [],
+  "initial_clearance": {
+    "human_gap_m": 2.1028814143032797,
+    "static_gap_m": 0.30000001192092896,
+    "closest_part": 5
+  },
+  "object_spawn_offset_m": 0.0027091807605287834,
+  "target_visible": true,
+  "target_visibility_required_at_start": false,
+  "pickup_visibility_checked_at_waiting_pose": true
+}

detour_ahead2_s1/pickup_v563_08_attempt_01/resolved_scene.yaml

@@ -0,0 +1,766 @@
+env_string: StretchExpertStepEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 6
+    dt: 0.016666666666666666
+    seed: 47215384
+    soft_resets: 100
+    scene:
+      num_envs: 1
+      env_spacing: 4
+    contact_reports: true
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - 0
+          - 0
+          - 0
+        - - 0
+          - 0
+          - 0
+        ori:
+        - - 0
+          - 0
+          - 0
+        - - 0
+          - 0
+          - 0
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          joint_lift: 0.95
+          joint_arm_l[0-3]: 0.025
+          joint_wrist_.*: 0.0
+          joint_head_pan: 0.0
+          joint_head_tilt: -0.6
+          joint_gripper_finger_.*: 0.0
+      action:
+        base_action: apple_velocity
+        arm_action: null
+        eef_action: null
+      planner:
+        dual_mode: false
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: hellorobot
+          enable: false
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 1
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: false
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+        body:
+          type: default
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.03
+            nav_heading_target: -1
+            velocity_frame: world
+        arm: null
+        eef: null
+      physics:
+        wheel_base: 0.33
+        robot_radius: 0.3
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    camera0:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 64
+        - 64
+        frequency: 30
+        focal_length: 18.0
+        horizontal_aperture: 36.0
+        vertical_aperture: 36.0
+        clipping_range:
+        - 0.05
+        - 10.0
+        focus_distance: 2
+        mode: RGB
+        pos:
+        - 5.2
+        - -4.8
+        - 3.2
+        ori:
+        - 61.47688139368797
+        - 36.68319166951328
+        - 17.986977303457945
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    head_cam:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 720
+        - 1280
+        frequency: 30
+        calibration:
+          file: safety_layer/stretch_expert/config/realsense_calibration.json
+          device: head_d435i
+          profile: color_1280x720
+          image_model: rectified
+          image_fit: native
+          image_rotation_clockwise_deg: 90
+          expected_sha256: 4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba
+        clipping_range:
+        - 0.05
+        - 10.0
+        focus_distance: 2
+        mode: RGB
+        mount_link: Robot_0/camera_color_optical_frame
+        pos:
+        - 0
+        - 0
+        - 0
+        ori:
+        - 180
+        - 0
+        - 90
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist_cam:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 30
+        calibration:
+          file: safety_layer/stretch_expert/config/realsense_calibration.json
+          device: wrist_d405
+          profile: color_640x480
+          image_model: rectified
+          image_fit: native
+          image_rotation_clockwise_deg: 0
+          expected_sha256: 4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba
+        clipping_range:
+        - 0.01
+        - 5.0
+        focus_distance: 0.3
+        mode: RGB
+        mount_link: Robot_0/gripper_camera_color_optical_frame
+        pos:
+        - 0
+        - 0
+        - 0
+        ori:
+        - 180
+        - 0
+        - 0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    background:
+      intensity:
+      - 1726.3
+      - 1726.3
+      texture:
+      - $MAGICSIM_ASSETS/Background/champagne_castle_1_4k.hdr
+    objects:
+      table:
+        usd:
+        - $MAGICSIM_ASSETS/Desk/Collected_cline/cline_inst_base.usd
+        num_per_env: 1
+        random: false
+        common:
+          scale:
+          - 0.4489266547406082
+          - 0.2272689598010775
+          - 0.9261178861788618
+          pos:
+          - - 3.366
+            - -1.2694999999999999
+            - -0.0
+          - - 3.366
+            - -1.2694999999999999
+            - -0.0
+          ori:
+          - - 0
+            - 0
+            - 0
+          - - 0
+            - 0
+            - 0
+        table_1:
+          visual:
+            color:
+            - 0.3998
+            - 0.4273
+            - 0.6163
+          physics:
+            type: geometry
+            collision: true
+      cube:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        common:
+          scale:
+          - 0.08
+          - 0.08
+          - 0.08
+          pos:
+          - - 10
+            - 10
+            - 0.15
+          - - 10
+            - 10
+            - 0.15
+          ori:
+          - - 0
+            - 0
+            - -89.99936862
+          - - 0
+            - 0
+            - -89.99936862
+        cube_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 1
+            - 0
+            - 0
+          physics:
+            type: geometry
+            collision: false
+      apple:
+        usd:
+        - $MAGICSIM_ASSETS/Object/Can/can_2/Object.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.3993
+          - -1.0371199999999998
+          - 1.0341197
+          ori:
+          - 0
+          - 0
+          - 218.89
+          scale:
+          - 0.9009
+          - 0.9009
+          - 0.9009
+        apple_1:
+          visual:
+            color:
+            - 0.1956
+            - 0.5064
+            - 0.746
+          physics:
+            type: rigid
+            mass: 0.15
+            collision: true
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.0
+              restitution: 0.0
+      distractor_0:
+        usd:
+        - $MAGICSIM_ASSETS/Object/boxed_beverage/boxed_beverage_010/Object.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.4709000000000003
+          - -1.3737199999999998
+          - 0.9713
+          ori:
+          - 0
+          - 0
+          - 332.2
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        distractor_0_1:
+          physics:
+            type: rigid
+            mass: 0.25
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 0.9
+              restitution: 0.0
+    light:
+      scene_light:
+        types:
+        - Distant
+        common:
+          pos:
+          - 2.604
+          - -2.394
+          - 3.035
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 3649.0
+          - 3649.0
+        Distant:
+          intensity_range:
+          - 2739.8
+          - 2739.8
+          angle_range:
+          - 1.0
+          - 1.0
+  anim:
+    avatar:
+      graph: magic
+      Person:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Business/F_Business_02/F_Business_02.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.697394627158817
+          - 1.612859579017563
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - -135.50313607532627
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          body_collision:
+            representation: bone_rigid
+            friction: 0.6
+            restitution: 0.1
+      DeskPerson:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Police/female_adult_police_01_new/female_adult_police_01_new.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 4.0923
+          - -1.2891199999999998
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - -90.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          body_collision:
+            representation: bone_rigid
+            friction: 0.6
+            restitution: 0.1
+task:
+  observation: {}
+  reward: {}
+  person_motion:
+    mix:
+      block: 0.5
+      cross: 0.3
+      clear: 0.2
+    hands:
+    - R
+    - L
+    move_s:
+    - 0.8
+    - 1.5
+    wait_s:
+    - 1.5
+    - 4.0
+    robot_arrival_s: 4.3
+    lean_rad: 0.6
+    rest_offset:
+    - 0.18
+    - 0.05
+    - -0.5
+    block:
+      arrive_before_s:
+      - 0.3
+      - 1.5
+      hold_s:
+      - 2.0
+      - 5.0
+      offset:
+      - - -0.03
+        - -0.06
+        - 0.08
+      - - 0.03
+        - -0.02
+        - 0.12
+    cross:
+      sweep_before_s:
+      - 0.5
+      - 1.5
+      sweep_s:
+      - 0.8
+      - 1.5
+      sweep_half_m:
+      - 0.12
+      - 0.2
+      offset:
+      - - -0.02
+        - 0.06
+        - -0.02
+      - - 0.02
+        - 0.12
+        - 0.06
+    clear:
+      first_wait_s:
+      - 0.5
+      - 3.0
+      hold_s:
+      - 1.5
+      - 4.0
+      offset:
+      - - 0.32
+        - -0.05
+        - 0.05
+      - - 0.42
+        - 0.05
+        - 0.15
+  termination:
+    timeout_steps: 2200
+    success_hold_frames: 3
+check:
+  command: MobileReach
+  mobile: true
+  base_target:
+  - 0.7
+  - 0
+  - 0
+  - 1
+  - 0
+  - 0
+  - 0
+  - 0
+  min_base_displacement: 0.4
+  max_base_displacement: 0.02
+hri_navigation:
+  goal:
+  - 3.4391987428712123
+  - -0.33019880542098523
+  - 0.0
+  person_start:
+  - 0.7
+  - -3.0
+  - 0.0
+  person_goal:
+  - 0.7
+  - 0.0
+  - 0.0
+  crossing_start_x: -1.45
+  walk_speed: 0.5
+  stop_hold_s: 4.0
+  surface_padding_m: 0.2
+  dwb:
+    device: cpu
+    dt: 0.1
+    num_rollout_steps: 30
+    num_speed_samples: 15
+    num_steer_samples: 21
+    max_accel: 0.4
+    max_steer_rate: 2.0
+    min_speed: 0.0
+    max_speed: 0.22
+    min_yaw_rate: -0.45
+    max_yaw_rate: 0.45
+    w_goal: 6.0
+    w_path: 8.0
+    w_vel: 4.0
+    w_heading: 0.5
+    goal_heading_fade_distance: 0.5
+    dilate_radius: 0.52
+    room_size: 12.0
+    occupancy_update_interval: 1
+    goal_pos_threshold: 0.02
+    goal_yaw_threshold: 0.08
+    kp_goal_yaw: 1.0
+    safety_enabled: true
+    safety_deceleration: 0.2
+    safety_reaction_time: 0.1
+    detour_replan: true
+    detour_plan_initial: false
+    detour_hold_s: 1.5
+    detour_replan_interval_s: 1.0
+    detour_clearance_cells: 14
+    goal_cost_mode: path
+  detour_goal:
+  - 2.0
+  - 0.0
+  - 0.0
+  trigger_distance_m: 2.0
+  occupancy_memory_s: 3.0
+hri_apple:
+  navigation:
+    detour_goal:
+    - 2.0
+    - 0.0
+    - 0.0
+    goal:
+    - 3.0
+    - 0.0
+    - 0.0
+    trigger_distance_m: 2.0
+    surface_padding_m: 0.2
+    dwb:
+      goal_cost_mode: path
+      min_speed: 0.0
+      max_accel: 0.4
+      w_vel: 4.0
+      detour_clearance_cells: 4
+  parking:
+    max_speed: 0.08
+    goal_pos_threshold: 0.006
+    goal_yaw_threshold: 0.005
+  apple_position:
+  - 3.3993
+  - -1.0371199999999998
+  - 1.0341197
+  apple_scale:
+  - 0.9009
+  - 0.9009
+  - 0.9009
+  apple_yaw_deg: 218.89
+  desk_position:
+  - 3.366
+  - -1.2694999999999999
+  - -0.0
+  desk_scale:
+  - 0.4489266547406082
+  - 0.2272689598010775
+  - 0.9261178861788618
+  desk_dims:
+  - 0.5019
+  - 0.5484
+  - 0.9113
+  person_position:
+  - 3.65
+  - -1.05
+  - 0.0
+  person_yaw_deg: -90.0
+  person_approach_goal:
+  - 3.45
+  - -1.05
+  - 0.0
+  person_approach_speed: 0.1
+  hand_initial:
+  - 3.16
+  - -0.85
+  - 1.25
+  hand_setup_s: 3.0
+  hand_block:
+  - 3.25
+  - -0.82
+  - 1.23
+  hand_intrusion:
+  - 3.05
+  - -0.6
+  - 1.23
+  hand_ready_s: 12.0
+  hand_approach_s: 6.0
+  hand_hold_s: 2.0
+  hand_withdraw_s: 3.0
+  hand_lower_s: 3.0
+  minimum_retraction_m: 0.08
+  clear_dwell_s: 5.0
+  pregrasp_offset_m: 0.08
+  grasp_depth_m: 0.045
+  grasp_raise_m: -0.0578
+  finger_collision_cell_m: 0.01
+  lift_m: 0.08
+  close_hold_s: 1.5
+  hold_s: 2.0
+  tcp_tolerance_m: 0.008
+  lateral_tolerance_m: 0.025
+  settled_from_positions: true
+  grasp_from_live_apple: true
+  desk_bounds:
+  - 0.5019
+  - 0.5484
+  - 0.9113
+  object_id: can_2
+  object_noun: can
+  object_top_m: 0.11981970000000002
+  wrist_grasp_from_start: false
+  head_track_apple: true
+  phase_budget_s:
+    navigate: 72.0
+    dock: 72.0
+    lift_clearance: 18.0
+    wait: 85.0
+    above_grasp: 85.0
+    approach: 79.0
+    lift: 12.0
+    hold: 12.0
+  grasp_wrist_yaw_rad: -0.0866
+  grasp_wrist_pitch_rad: -0.1292
+  predicted_grasp_desk_clearance_m: 0.035363385493443665
+  grasp_clearance_below_reserve: false
+  distractors:
+  - asset: juice_010
+    offset:
+    - 0.0716
+    - -0.3366
+    yaw_deg: 332.2
+  park_standoff_m: 0.7129
+  hover_backoff_m: 0.26
+  hand_expected: true
+hri_couple_fingers: true
+hri_gripper_close_s: 1.0
+hri_gripper_open_rad: 0.32
+hri_arm_hold: true
+hri_fingertip_friction:
+  static_friction: 1.5
+  dynamic_friction: 1.3
+hri_basic_grading: true
+hri_floor:
+  size_m: 400.0
+  tile_m: 1.0
+  material: Ground_Aggregate_Exposed
+  mdl_path: $MAGICSIM_ASSETS/Material/Ground/Ground_Aggregate_Exposed.mdl
+  mdl_name: Ground_Aggregate_Exposed
+hri_basic:
+  task: pickup
+  robot_start:
+  - 1.21557
+  - 1.93283
+  - -1.20692
+  lift_m: 0.85619
+  extension_m: 0.13715
+  layout_offset:
+  - 0.456
+  - -0.2975
+  apple_offset:
+  - 0.0333
+  - 0.01818
+  detour:
+    crossing:
+      category: Person
+      avatar: BusinessFemale02
+      behaviour: pause
+      animation: Talk
+      side: 1
+      start_world:
+      - 3.69739
+      - 1.61286
+      cross_world:
+      - 2.59465
+      - 0.52931
+      end_world:
+      - 0.99974
+      - -1.03783
+      stand_world:
+      - 2.59465
+      - 0.52931
+      speed_mps: 0.598
+      trigger_m: 1.774
+      pause_s: 7.13
+      route_start:
+      - 1.21557
+      - 1.93283
+      route_park:
+      - 3.4392
+      - -0.3302
+    desk:
+      category: DeskPerson
+      avatar: PoliceFemale01
+      spot_world:
+      - 4.0923
+      - -1.28912
+      approach_world:
+      - 3.8923
+      - -1.28912
+      approach_speed_mps: 0.1
+      hover_world:
+      - 3.3993
+      - -0.77712
+      - 1.05632
+      hand_ready:
+      - 3.6193
+      - -1.13712
+      - 1.30394
+      hand_intrusion:
+      - 3.5363
+      - -0.98612
+      - 1.29694
+      hand_placement: ahead
+      hand_press_direction:
+      - -0.54822
+      - 0.83633
+      hand_entry:
+      - 3.6363
+      - -0.98612
+      - 1.30394
+      setup_s: 3.0
+      lower_s: 3.0
+      blocks:
+      - delay_s: 1.22
+        approach_s: 5.24
+        hold_s: 2.44
+        withdraw_s: 3.23
+        press_m: 0.0
+        press_s: 0.0
+      - delay_s: 3.18
+        approach_s: 6.94
+        hold_s: 4.72
+        withdraw_s: 3.09
+        press_m: 0.071
+        press_s: 1.6
+      - delay_s: 1.95
+        approach_s: 7.1
+        hold_s: 3.41
+        withdraw_s: 2.3
+        press_m: 0.0
+        press_s: 0.0
+      minimum_retraction_m: 0.02
+    occupancy_memory_s: 3.0
+hri_seven_commands: true

detour_ahead2_s1/pickup_v565_11_attempt_01/avatar_0/avatar_motion_audit.json

@@ -0,0 +1,14 @@
+{
+  "samples": 874,
+  "arm_torso_clip_steps": 872,
+  "maximum_arm_torso_vertex_penetration_m": 0.04815432969225861,
+  "tolerance_m": 0.003,
+  "worst": {
+    "time_s": 19.400000000000002,
+    "pair": [
+      "R_ForearmTwist01",
+      "Waist"
+    ]
+  },
+  "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/avatar_1/avatar_motion_audit.json

@@ -0,0 +1,8 @@
+{
+  "samples": 874,
+  "arm_torso_clip_steps": 0,
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "tolerance_m": 0.003,
+  "worst": null,
+  "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/avatar_motion_audit.json

@@ -0,0 +1,32 @@
+{
+  "arm_torso_clip_steps": 0,
+  "people": [
+    {
+      "samples": 874,
+      "arm_torso_clip_steps": 0,
+      "maximum_arm_torso_vertex_penetration_m": 0.0,
+      "tolerance_m": 0.003,
+      "worst": null,
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "background_people": [
+    {
+      "samples": 874,
+      "arm_torso_clip_steps": 872,
+      "maximum_arm_torso_vertex_penetration_m": 0.04815432969225861,
+      "tolerance_m": 0.003,
+      "worst": {
+        "time_s": 19.400000000000002,
+        "pair": [
+          "R_ForearmTwist01",
+          "Waist"
+        ]
+      },
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "background_arm_torso_clip_steps": 872,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.04815432969225861
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/cameras/camera_manifest.json

@@ -0,0 +1,232 @@
+{
+  "head_cam": {
+    "mount_link": "camera_color_optical_frame",
+    "configuration": {
+      "type": "camera",
+      "mesh": "pinhole",
+      "resolution": [
+        720,
+        1280
+      ],
+      "frequency": 30,
+      "calibration": {
+        "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+        "device": "head_d435i",
+        "profile": "color_1280x720",
+        "image_model": "rectified",
+        "image_fit": "native",
+        "image_rotation_clockwise_deg": 90,
+        "expected_sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba"
+      },
+      "clipping_range": [
+        0.05,
+        10.0
+      ],
+      "focus_distance": 2,
+      "mode": "RGB",
+      "mount_link": "Robot_0/camera_color_optical_frame",
+      "pos": [
+        0,
+        0,
+        0
+      ],
+      "ori": [
+        180,
+        0,
+        90
+      ]
+    },
+    "intrinsics": [
+      [
+        912.7807006835938,
+        0.0,
+        339.9153747558594
+      ],
+      [
+        0.0,
+        912.7807006835938,
+        638.208984375
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "depth": "ideal axial renderer depth in metres, registered to existing RGB",
+    "calibration": {
+      "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+      "sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba",
+      "device": "head_d435i",
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+      "profile": "color_1280x720",
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+      "raw_depth_to_color_applied": false,
+      "limitations": "No raw lens distortion, stereo occlusion/noise or separate depth imager is simulated. Robot mounting poses come from the existing URDF."
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+  },
+  "wrist_cam": {
+    "mount_link": "gripper_camera_color_optical_frame",
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+        "device": "wrist_d405",
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+      "mount_link": "Robot_0/gripper_camera_color_optical_frame",
+      "pos": [
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+      "sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba",
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+      "raw_depth_to_color_applied": false,
+      "limitations": "No raw lens distortion, stereo occlusion/noise or separate depth imager is simulated. Robot mounting poses come from the existing URDF."
+    }
+  }
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/cameras/capture_delivery.json

@@ -0,0 +1,5 @@
+{
+  "wait_idle": 1,
+  "render_complete_order": 1000,
+  "source": "existing live render-product annotators"
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/controller_settings.json

@@ -0,0 +1,68 @@
+{
+  "motion_source": "NavTo/DWB + HRI expert",
+  "curobo_role": "HRI expert geometry and independent audits",
+  "visibility_trigger": "at least three sampled visible person depth pixels in either onboard camera",
+  "visibility_trigger_range_m": 2.0,
+  "occlusion_policy": "last_observed_surface_kept_3s_without_hidden_tracking",
+  "navigation": {
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+    "person_goal": [
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+    "crossing_start_x": -1.45,
+    "walk_speed": 0.5,
+    "stop_hold_s": 4.0,
+    "surface_padding_m": 0.2,
+    "dwb": {
+      "device": "cpu",
+      "dt": 0.1,
+      "num_rollout_steps": 30,
+      "num_speed_samples": 15,
+      "num_steer_samples": 21,
+      "max_accel": 0.4,
+      "max_steer_rate": 2.0,
+      "min_speed": 0.0,
+      "max_speed": 0.22,
+      "min_yaw_rate": -0.45,
+      "max_yaw_rate": 0.45,
+      "w_goal": 6.0,
+      "w_path": 8.0,
+      "w_vel": 4.0,
+      "w_heading": 0.5,
+      "goal_heading_fade_distance": 0.5,
+      "dilate_radius": 0.52,
+      "room_size": 12.0,
+      "occupancy_update_interval": 1,
+      "goal_pos_threshold": 0.02,
+      "goal_yaw_threshold": 0.08,
+      "kp_goal_yaw": 1.0,
+      "safety_enabled": true,
+      "safety_deceleration": 0.2,
+      "safety_reaction_time": 0.1,
+      "detour_replan": true,
+      "detour_plan_initial": false,
+      "detour_hold_s": 1.5,
+      "detour_replan_interval_s": 1.0,
+      "detour_clearance_cells": 14,
+      "goal_cost_mode": "path"
+    },
+    "detour_goal": [
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+      0.0
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+    "trigger_distance_m": 2.0,
+    "occupancy_memory_s": 3.0
+  }
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/contract.json

@@ -0,0 +1,70 @@
+{
+  "contract": "magicsim_hri_native_v1",
+  "schema_version": 1,
+  "training_transform": "NativeTrainingDataset/v2",
+  "training_image_resolution": [
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+    384
+  ],
+  "training_image_resize": "full image resized with OpenCV INTER_AREA; no crop",
+  "recorded_camera_resolutions": {
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+    "wrist_cam": [
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+      480
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+  },
+  "cameras": [
+    "head_cam",
+    "wrist_cam"
+  ],
+  "images": "RGB float32 CHW / 255; native video is lossy",
+  "alignment": "T+1 observations, T commands; obs[j] precedes action[j]",
+  "commands": [
+    "forward_m_s",
+    "yaw_rad_s",
+    "lift_m_s",
+    "total_extension_m_s",
+    "wrist_yaw_target_rad",
+    "head_pan_target_rad",
+    "gripper_close",
+    "wrist_pitch_target_rad"
+  ],
+  "state": "native schema joint order; four telescope joints each in meters, total extension is their sum",
+  "gripper": "native binary action: 0 open, 1 close",
+  "applied": "all native joint position targets followed by three base joint velocity targets",
+  "joint_names": [
+    "dummy_base_prismatic_x_joint",
+    "dummy_base_prismatic_y_joint",
+    "dummy_base_revolute_z_joint",
+    "joint_lift",
+    "joint_head_pan",
+    "joint_head_tilt",
+    "joint_arm_l3",
+    "joint_arm_l2",
+    "joint_arm_l1",
+    "joint_arm_l0",
+    "joint_wrist_yaw",
+    "joint_wrist_pitch",
+    "joint_wrist_roll",
+    "joint_gripper_finger_left",
+    "joint_gripper_finger_right"
+  ],
+  "scenario": "hri_nav_apple",
+  "basic_task": "pickup",
+  "steps_requested": 2400,
+  "setup": null,
+  "sources": {
+    "hri_collector": "c8f90f39d01291cac6985c259a1b6c7a1b7e7bbc3e00c8b0f6f8c30e0d5c12bc",
+    "native_writer": "5f9d88f9e8a19a1a80fc523556a05c7f77355d099c509f6f88c22c8fe6f73d04",
+    "native_loader": "5143fcee3df3d45f0d07226c2840256c8893b5a95423d1e69c60c367e34c5895",
+    "native_schema": "ca4e45863743828de4b26876e6d908de29f25550b6096df68647a93c3d5cf20c"
+  },
+  "versions": {
+    "numpy": "1.26.0",
+    "torch": "2.7.0+cu128"
+  }
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/eligibility.json

@@ -0,0 +1,896 @@
+{
+  "scenario": "hri_nav_apple",
+  "steps": 873,
+  "minimum_human_distance_m": 0.19922625248371356,
+  "margin_m": 0.09,
+  "margin_violation_steps": 0,
+  "any_contact": false,
+  "contact_steps": 0,
+  "task_success": true,
+  "success_not_before_s": 0.0,
+  "time_to_completion_s": 86.3,
+  "episode_time_s": 87.30000000000001,
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+    "holding": 40,
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+    "wait": 135
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+  "error": null,
+  "validation": "Isaac Sim PhysX contact reports; robot-sphere to human-sphere clearance (not independent mesh clearance)",
+  "arm_torso_clip_steps": 0,
+  "people": [
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+      "arm_torso_clip_steps": 0,
+      "maximum_arm_torso_vertex_penetration_m": 0.0,
+      "tolerance_m": 0.003,
+      "worst": null,
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "background_people": [
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+      "arm_torso_clip_steps": 872,
+      "maximum_arm_torso_vertex_penetration_m": 0.04815432969225861,
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+        "pair": [
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+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "background_arm_torso_clip_steps": 872,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.04815432969225861,
+  "end_reason": "task_success",
+  "basic_task": "pickup",
+  "person_motion": {
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+        [
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+          52.3
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+      "tracks_declared_apple",
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+  "execution_noise": {
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+    "label": "expert intended command; the applied command is in action.applied / steps.jsonl",
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+      {
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+      {
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+        "params": {
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+      {
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+        "phase": "dock",
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+        "planned_end_s": 40.205,
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+        "steps": 7,
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+      {
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+      {
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+    ],
+    "window_count": 9,
+    "control_steps": 873,
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+    "perturbed_steps_by_kind": {
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+      "head": 82
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+    "skipped_starts_by_phase": {
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+      "approach": 1,
+      "close": 1,
+      "lift": 1,
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+      "wait",
+      "above_grasp",
+      "approach",
+      "close",
+      "lift",
+      "retract",
+      "hold"
+    ],
+    "base_windows_need_forward_m_s": [
+      0.035,
+      0.03
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+    "phase_kinds": {
+      "navigate": [
+        "base",
+        "head"
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+      "dock": [
+        "base",
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+      "settle": [
+        "head"
+      ],
+      "look": [
+        "head"
+      ],
+      "lift_clearance": [
+        "head"
+      ],
+      "raise": [
+        "head",
+        "arm"
+      ]
+    }
+  },
+  "legacy_endpoint_metrics": {
+    "minimum_human_distance_m": 0.19922625248371356,
+    "margin_violation_steps": 0,
+    "critical_blind_steps": 0,
+    "task_success": true,
+    "time_to_completion_s": 86.3
+  },
+  "grading_policy": "visible_camera_outcomes_v2",
+  "visibility_warnings": [
+    "unseen_nearby_hazard"
+  ],
+  "human_interaction_complete": true,
+  "minimum_static_distance_m": 0.036898329854011536,
+  "static_margin_violation_steps": 0,
+  "unseen_hazard_steps": 1,
+  "camera_timestamp_mismatch_steps": 0,
+  "incomplete_physics_audit_steps": 0,
+  "grader": "independent_post_physics_v1",
+  "grade_episode_finished": true,
+  "grade_evidence_complete": true,
+  "human_margin_m": 0.09,
+  "static_margin_m": 0.01125,
+  "static_distance_cap_m": 0.3,
+  "clearance_sample_mode": "control_endpoints",
+  "substep_clearance_available": false,
+  "grading_scope": "Same robot/human sphere models, measured before and after each six-tick interval. Native PhysX human contacts accumulate throughout physics. Closest near bone-part visibility audited as a warning at both camera endpoints, including while stationary. Intermediate clearances are unavailable without a timing-perturbing observer; not an independent mesh-clearance proof.",
+  "execution_kind": "navto_dwb_hri_sequence",
+  "navigation_behavior": {
+    "first_visible_s": 1.4000000000000001,
+    "stopped_s": 1.8,
+    "resumed_s": 6.0,
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+    "max_detour_m": 0.9622449782105189,
+    "max_turn_rad": 0.870025983562903,
+    "max_route_deviation_m": 0.9622449782105189,
+    "max_heading_deviation_rad": 0.870025983562903
+  },
+  "apple_pickup": {
+    "lifted_s": 81.3,
+    "held_retracted_s": 87.3,
+    "maximum_lift_m": 0.07773029804229736
+  },
+  "head_joint_max_travel_rad": 1.5710020065366606,
+  "pose_policy": {
+    "wrist_grasp_from_start": false,
+    "head_forward": false,
+    "head_track_apple": true
+  },
+  "desk_reserve_m": 0.0225,
+  "desk_reserve_experiment": false,
+  "predicted_grasp_desk_clearance_m": 0.03748339085600913,
+  "grasp_clearance_below_reserve": false
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/inspection.json

@@ -0,0 +1,9 @@
+{
+  "steps": 873,
+  "observations": 874,
+  "all_training_samples_loaded": true,
+  "state_dim": 15,
+  "action_dim": 8,
+  "accepted": true,
+  "contract": "magicsim_hri_native_v1"
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/magicsim/0/language/narration.json

@@ -0,0 +1 @@
+[]

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/magicsim/0/language/scene.json

@@ -0,0 +1 @@
+"hri_nav_apple"

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/magicsim/0/language/task.json

@@ -0,0 +1 @@
+"Pick up the bottle on the desk and hold it after retracting."

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/magicsim/magicsim_manifest.json

@@ -0,0 +1,151 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-10-27 03:48:07"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 10.0,
+        "fps_int": 10,
+        "sim_dt": 0.016666666666666666,
+        "decimation": 6,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 8,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 8,
+                "names": [
+                    "forward_m_s",
+                    "yaw_rad_s",
+                    "lift_m_s",
+                    "total_extension_m_s",
+                    "wrist_yaw_target_rad",
+                    "head_pan_target_rad",
+                    "gripper_close",
+                    "wrist_pitch_target_rad"
+                ],
+                "source": "AppleVelocityAction",
+                "names_source": "action_names"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head_cam": {
+            "resolution": [
+                720,
+                1280
+            ],
+            "annotators": [
+                "rgb"
+            ]
+        },
+        "wrist_cam": {
+            "resolution": [
+                640,
+                480
+            ],
+            "annotators": [
+                "rgb"
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "pickup_v565_11_attempt_01",
+        "task_type": "hri_hri_nav_apple"
+    }
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/dataset/sim_info/magicsim_manifest.json

@@ -0,0 +1,151 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-10-27 03:48:07"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 10.0,
+        "fps_int": 10,
+        "sim_dt": 0.016666666666666666,
+        "decimation": 6,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 8,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 8,
+                "names": [
+                    "forward_m_s",
+                    "yaw_rad_s",
+                    "lift_m_s",
+                    "total_extension_m_s",
+                    "wrist_yaw_target_rad",
+                    "head_pan_target_rad",
+                    "gripper_close",
+                    "wrist_pitch_target_rad"
+                ],
+                "source": "AppleVelocityAction",
+                "names_source": "action_names"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head_cam": {
+            "resolution": [
+                720,
+                1280
+            ],
+            "annotators": [
+                "rgb"
+            ]
+        },
+        "wrist_cam": {
+            "resolution": [
+                640,
+                480
+            ],
+            "annotators": [
+                "rgb"
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "pickup_v565_11_attempt_01",
+        "task_type": "hri_hri_nav_apple"
+    }
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/execution_audit.json

@@ -0,0 +1,41 @@
+{
+  "action_dimension": 8,
+  "command_applications": 873,
+  "env_episode_steps": 873,
+  "last_control_dt_s": 0.10000000521540642,
+  "post_episode_base_velocity_targets": [
+    0.0,
+    0.0,
+    0.0
+  ],
+  "error_base_velocity_targets": null,
+  "final_terminated": true,
+  "final_truncated": false,
+  "final_hri_grade": [
+    {
+      "grading_policy": "visible_camera_outcomes_v2",
+      "visibility_warnings": [
+        "unseen_nearby_hazard"
+      ],
+      "time_s": 87.3,
+      "terminal": true,
+      "verdict": "accept",
+      "rejection_reasons": [],
+      "task_success": true,
+      "human_interaction_complete": true,
+      "minimum_human_distance_m": 0.19922625248371356,
+      "minimum_static_distance_m": 0.036898329854011536,
+      "contact_steps": 0,
+      "margin_violation_steps": 0,
+      "static_margin_violation_steps": 0,
+      "critical_blind_steps": 0,
+      "unseen_hazard_steps": 1,
+      "camera_timestamp_mismatch_steps": 0,
+      "incomplete_physics_audit_steps": 0,
+      "time_to_completion_s": 86.3,
+      "goal_error_m": 0.0,
+      "post_step_gap_m": 0.6527205115362412,
+      "physics_ticks": 6
+    }
+  ]
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/execution_settings.json

@@ -0,0 +1,62 @@
+{
+  "execution_path": "env",
+  "control_dt_s": 0.1,
+  "physics_dt_s": 0.016666666666666666,
+  "decimation": 6,
+  "debug_snapshots": false,
+  "debug_logs": false,
+  "step_log_format": "compact_v1",
+  "command_names": [
+    "forward_m_s",
+    "yaw_rad_s",
+    "lift_m_s",
+    "total_extension_m_s",
+    "wrist_yaw_target_rad",
+    "head_pan_target_rad",
+    "gripper_close",
+    "wrist_pitch_target_rad"
+  ],
+  "gripper": "native binary action: 0 open, 1 close",
+  "gripper_drive": "stock (stiffness 100, damping 10, effort 5)",
+  "gripper_close_s": 1.0,
+  "finger_coupling": true,
+  "finger_joint_limits_rad": [
+    [
+      0.0,
+      0.3700000047683716
+    ],
+    [
+      0.0,
+      0.3700000047683716
+    ]
+  ],
+  "gripper_open_rad": 0.32,
+  "fingertip_friction": {
+    "static_friction": 1.5,
+    "dynamic_friction": 1.3
+  },
+  "fingertip_friction_report": {
+    "shapes": {
+      "link_gripper_finger_left": 1,
+      "link_gripper_finger_right": 1,
+      "link_gripper_fingertip_left": 1,
+      "link_gripper_fingertip_right": 1
+    },
+    "stock_static_dynamic_restitution": [
+      [
+        0.5,
+        0.5,
+        0.0
+      ]
+    ],
+    "read_back_static_dynamic": [
+      1.5,
+      1.2999999523162842
+    ]
+  },
+  "arm_hold": true,
+  "grasp_from_live_apple": true,
+  "execution_noise": "execution_noise_v4",
+  "episode_owner": "independent post-physics grader (Step 3)",
+  "invalid_env_command": "zero motion; malformed shape stops base then raises"
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/human_fit.json

@@ -0,0 +1,16 @@
+{
+  "people": [
+    {
+      "spheres": 1128,
+      "bone_parts": 79,
+      "max_uncovered_vertex_m": 0.0,
+      "method": "OBB cell circumspheres over existing MagicSim bone colliders"
+    },
+    {
+      "spheres": 1233,
+      "bone_parts": 84,
+      "max_uncovered_vertex_m": 0.0,
+      "method": "OBB cell circumspheres over existing MagicSim bone colliders"
+    }
+  ]
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/preflight.json

@@ -0,0 +1,13 @@
+{
+  "valid": true,
+  "reasons": [],
+  "initial_clearance": {
+    "human_gap_m": 1.9756821816734527,
+    "static_gap_m": 0.30000001192092896,
+    "closest_part": 5
+  },
+  "object_spawn_offset_m": 0.0032230012677357377,
+  "target_visible": true,
+  "target_visibility_required_at_start": false,
+  "pickup_visibility_checked_at_waiting_pose": true
+}

detour_ahead2_s1/pickup_v565_11_attempt_01/resolved_scene.yaml

@@ -0,0 +1,758 @@
+env_string: StretchExpertStepEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 6
+    dt: 0.016666666666666666
+    seed: 325163485
+    soft_resets: 100
+    scene:
+      num_envs: 1
+      env_spacing: 4
+    contact_reports: true
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - 0
+          - 0
+          - 0
+        - - 0
+          - 0
+          - 0
+        ori:
+        - - 0
+          - 0
+          - 0
+        - - 0
+          - 0
+          - 0
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          joint_lift: 0.95
+          joint_arm_l[0-3]: 0.025
+          joint_wrist_.*: 0.0
+          joint_head_pan: 0.0
+          joint_head_tilt: -0.6
+          joint_gripper_finger_.*: 0.0
+      action:
+        base_action: apple_velocity
+        arm_action: null
+        eef_action: null
+      planner:
+        dual_mode: false
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: hellorobot
+          enable: false
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 1
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: false
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+        body:
+          type: default
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.03
+            nav_heading_target: -1
+            velocity_frame: world
+        arm: null
+        eef: null
+      physics:
+        wheel_base: 0.33
+        robot_radius: 0.3
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    camera0:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 64
+        - 64
+        frequency: 30
+        focal_length: 18.0
+        horizontal_aperture: 36.0
+        vertical_aperture: 36.0
+        clipping_range:
+        - 0.05
+        - 10.0
+        focus_distance: 2
+        mode: RGB
+        pos:
+        - 5.2
+        - -4.8
+        - 3.2
+        ori:
+        - 61.47688139368797
+        - 36.68319166951328
+        - 17.986977303457945
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    head_cam:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 720
+        - 1280
+        frequency: 30
+        calibration:
+          file: safety_layer/stretch_expert/config/realsense_calibration.json
+          device: head_d435i
+          profile: color_1280x720
+          image_model: rectified
+          image_fit: native
+          image_rotation_clockwise_deg: 90
+          expected_sha256: 4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba
+        clipping_range:
+        - 0.05
+        - 10.0
+        focus_distance: 2
+        mode: RGB
+        mount_link: Robot_0/camera_color_optical_frame
+        pos:
+        - 0
+        - 0
+        - 0
+        ori:
+        - 180
+        - 0
+        - 90
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist_cam:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 30
+        calibration:
+          file: safety_layer/stretch_expert/config/realsense_calibration.json
+          device: wrist_d405
+          profile: color_640x480
+          image_model: rectified
+          image_fit: native
+          image_rotation_clockwise_deg: 0
+          expected_sha256: 4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba
+        clipping_range:
+        - 0.01
+        - 5.0
+        focus_distance: 0.3
+        mode: RGB
+        mount_link: Robot_0/gripper_camera_color_optical_frame
+        pos:
+        - 0
+        - 0
+        - 0
+        ori:
+        - 180
+        - 0
+        - 0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    background:
+      intensity:
+      - 2185.7
+      - 2185.7
+      texture:
+      - $MAGICSIM_ASSETS/Background/kloofendal_48d_partly_cloudy_4k.hdr
+    objects:
+      table:
+        usd:
+        - $MAGICSIM_ASSETS/Desk/Collected_cline/cline_inst_base.usd
+        num_per_env: 1
+        random: false
+        common:
+          scale:
+          - 0.6955277280858675
+          - 0.2063820969747203
+          - 0.9224593495934958
+          pos:
+          - - 3.3016
+            - -0.9601999999999999
+            - -0.0
+          - - 3.3016
+            - -0.9601999999999999
+            - -0.0
+          ori:
+          - - 0
+            - 0
+            - 0
+          - - 0
+            - 0
+            - 0
+        table_1:
+          visual:
+            visual_material:
+              usd:
+              - $MAGICSIM_ASSETS/Material/Source/Stone/Ardesia_Grigia.mdl
+              random: false
+          physics:
+            type: geometry
+            collision: true
+      cube:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        common:
+          scale:
+          - 0.08
+          - 0.08
+          - 0.08
+          pos:
+          - - 10
+            - 10
+            - 0.15
+          - - 10
+            - 10
+            - 0.15
+          ori:
+          - - 0
+            - 0
+            - -89.99936862
+          - - 0
+            - 0
+            - -89.99936862
+        cube_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 1
+            - 0
+            - 0
+          physics:
+            type: geometry
+            collision: false
+      apple:
+        usd:
+        - $MAGICSIM_ASSETS/Object/Bottle/bottle_2/Object.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.37987
+          - -0.7908399999999999
+          - 1.037723
+          ori:
+          - 0
+          - 0
+          - 58.05
+          scale:
+          - 0.9771
+          - 0.9771
+          - 0.9771
+        apple_1:
+          visual:
+            color:
+            - 0.4131
+            - 0.5756
+            - 0.7607
+          physics:
+            type: rigid
+            mass: 0.15
+            collision: true
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.0
+              restitution: 0.0
+      distractor_0:
+        usd:
+        - $MAGICSIM_ASSETS/Object/boxed_beverage/boxed_beverage_003/Object.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.00657
+          - -0.9478399999999999
+          - 0.9452999999999999
+          ori:
+          - 0
+          - 0
+          - 284.6
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        distractor_0_1:
+          physics:
+            type: rigid
+            mass: 0.2
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 0.9
+              restitution: 0.0
+    light:
+      scene_light:
+        types:
+        - Rect
+        common:
+          pos:
+          - 3.319
+          - -1.301
+          - 3.074
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6251.0
+          - 6251.0
+        Rect:
+          intensity_range:
+          - 5420.7
+          - 5420.7
+          width_range:
+          - 1.5
+          - 1.5
+          height_range:
+          - 1.5
+          - 1.5
+  anim:
+    avatar:
+      graph: magic
+      Person:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Construction/male_adult_construction_01_new/male_adult_construction_01_new.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.512828087726466
+          - 2.2903241604231717
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - -139.2860214933942
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          body_collision:
+            representation: bone_rigid
+            friction: 0.6
+            restitution: 0.1
+      DeskPerson:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Police/male_adult_police_04/male_adult_police_04.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 4.11587
+          - -1.11184
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - -90.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          body_collision:
+            representation: bone_rigid
+            friction: 0.6
+            restitution: 0.1
+task:
+  observation: {}
+  reward: {}
+  person_motion:
+    mix:
+      block: 0.5
+      cross: 0.3
+      clear: 0.2
+    hands:
+    - R
+    - L
+    move_s:
+    - 0.8
+    - 1.5
+    wait_s:
+    - 1.5
+    - 4.0
+    robot_arrival_s: 4.3
+    lean_rad: 0.6
+    rest_offset:
+    - 0.18
+    - 0.05
+    - -0.5
+    block:
+      arrive_before_s:
+      - 0.3
+      - 1.5
+      hold_s:
+      - 2.0
+      - 5.0
+      offset:
+      - - -0.03
+        - -0.06
+        - 0.08
+      - - 0.03
+        - -0.02
+        - 0.12
+    cross:
+      sweep_before_s:
+      - 0.5
+      - 1.5
+      sweep_s:
+      - 0.8
+      - 1.5
+      sweep_half_m:
+      - 0.12
+      - 0.2
+      offset:
+      - - -0.02
+        - 0.06
+        - -0.02
+      - - 0.02
+        - 0.12
+        - 0.06
+    clear:
+      first_wait_s:
+      - 0.5
+      - 3.0
+      hold_s:
+      - 1.5
+      - 4.0
+      offset:
+      - - 0.32
+        - -0.05
+        - 0.05
+      - - 0.42
+        - 0.05
+        - 0.15
+  termination:
+    timeout_steps: 2200
+    success_hold_frames: 3
+check:
+  command: MobileReach
+  mobile: true
+  base_target:
+  - 0.7
+  - 0
+  - 0
+  - 1
+  - 0
+  - 0
+  - 0
+  - 0
+  min_base_displacement: 0.4
+  max_base_displacement: 0.02
+hri_navigation:
+  goal:
+  - 3.4194854489403985
+  - 0.06085042167125408
+  - 0.0
+  person_start:
+  - 0.7
+  - -3.0
+  - 0.0
+  person_goal:
+  - 0.7
+  - 0.0
+  - 0.0
+  crossing_start_x: -1.45
+  walk_speed: 0.5
+  stop_hold_s: 4.0
+  surface_padding_m: 0.2
+  dwb:
+    device: cpu
+    dt: 0.1
+    num_rollout_steps: 30
+    num_speed_samples: 15
+    num_steer_samples: 21
+    max_accel: 0.4
+    max_steer_rate: 2.0
+    min_speed: 0.0
+    max_speed: 0.22
+    min_yaw_rate: -0.45
+    max_yaw_rate: 0.45
+    w_goal: 6.0
+    w_path: 8.0
+    w_vel: 4.0
+    w_heading: 0.5
+    goal_heading_fade_distance: 0.5
+    dilate_radius: 0.52
+    room_size: 12.0
+    occupancy_update_interval: 1
+    goal_pos_threshold: 0.02
+    goal_yaw_threshold: 0.08
+    kp_goal_yaw: 1.0
+    safety_enabled: true
+    safety_deceleration: 0.2
+    safety_reaction_time: 0.1
+    detour_replan: true
+    detour_plan_initial: false
+    detour_hold_s: 1.5
+    detour_replan_interval_s: 1.0
+    detour_clearance_cells: 14
+    goal_cost_mode: path
+  detour_goal:
+  - 2.0
+  - 0.0
+  - 0.0
+  trigger_distance_m: 2.0
+  occupancy_memory_s: 3.0
+hri_apple:
+  navigation:
+    detour_goal:
+    - 2.0
+    - 0.0
+    - 0.0
+    goal:
+    - 3.0
+    - 0.0
+    - 0.0
+    trigger_distance_m: 2.0
+    surface_padding_m: 0.2
+    dwb:
+      goal_cost_mode: path
+      min_speed: 0.0
+      max_accel: 0.4
+      w_vel: 4.0
+      detour_clearance_cells: 4
+  parking:
+    max_speed: 0.08
+    goal_pos_threshold: 0.006
+    goal_yaw_threshold: 0.005
+  apple_position:
+  - 3.37987
+  - -0.7908399999999999
+  - 1.037723
+  apple_scale:
+  - 0.9771
+  - 0.9771
+  - 0.9771
+  apple_yaw_deg: 58.05
+  desk_position:
+  - 3.3016
+  - -0.9601999999999999
+  - -0.0
+  desk_scale:
+  - 0.6955277280858675
+  - 0.2063820969747203
+  - 0.9224593495934958
+  desk_dims:
+  - 0.7776
+  - 0.498
+  - 0.9077
+  person_position:
+  - 3.65
+  - -1.05
+  - 0.0
+  person_yaw_deg: -90.0
+  person_approach_goal:
+  - 3.45
+  - -1.05
+  - 0.0
+  person_approach_speed: 0.1
+  hand_initial:
+  - 3.16
+  - -0.85
+  - 1.25
+  hand_setup_s: 3.0
+  hand_block:
+  - 3.25
+  - -0.82
+  - 1.23
+  hand_intrusion:
+  - 3.05
+  - -0.6
+  - 1.23
+  hand_ready_s: 12.0
+  hand_approach_s: 6.0
+  hand_hold_s: 2.0
+  hand_withdraw_s: 3.0
+  hand_lower_s: 3.0
+  minimum_retraction_m: 0.08
+  clear_dwell_s: 5.0
+  pregrasp_offset_m: 0.08
+  grasp_depth_m: 0.045
+  grasp_raise_m: -0.06
+  finger_collision_cell_m: 0.01
+  lift_m: 0.08
+  close_hold_s: 1.5
+  hold_s: 2.0
+  tcp_tolerance_m: 0.008
+  lateral_tolerance_m: 0.025
+  settled_from_positions: true
+  grasp_from_live_apple: true
+  desk_bounds:
+  - 0.7776
+  - 0.498
+  - 0.9077
+  object_id: bottle_2
+  object_noun: bottle
+  object_top_m: 0.127023
+  wrist_grasp_from_start: false
+  head_track_apple: true
+  phase_budget_s:
+    navigate: 72.0
+    dock: 72.0
+    lift_clearance: 18.0
+    wait: 49.0
+    above_grasp: 49.0
+    approach: 43.0
+    lift: 12.0
+    hold: 12.0
+  grasp_wrist_yaw_rad: -0.0853
+  grasp_wrist_pitch_rad: -0.1247
+  predicted_grasp_desk_clearance_m: 0.03748339085600913
+  grasp_clearance_below_reserve: false
+  distractors:
+  - asset: juice_003
+    offset:
+    - -0.3733
+    - -0.157
+    yaw_deg: 284.6
+  table_material: Ardesia_Grigia
+  park_standoff_m: 0.8574
+  hover_backoff_m: 0.26
+  hand_expected: true
+hri_couple_fingers: true
+hri_gripper_close_s: 1.0
+hri_gripper_open_rad: 0.32
+hri_arm_hold: true
+hri_fingertip_friction:
+  static_friction: 1.5
+  dynamic_friction: 1.3
+hri_basic_grading: true
+hri_floor:
+  size_m: 400.0
+  tile_m: 1.0
+  material: Rough_Gravel
+  mdl_path: $MAGICSIM_ASSETS/Material/Ground/Rough_Gravel.mdl
+  mdl_name: Rough_Gravel
+hri_basic:
+  task: pickup
+  robot_start:
+  - 1.14339
+  - 2.70575
+  - -0.84298
+  lift_m: 0.71492
+  extension_m: 0.14994
+  layout_offset:
+  - 0.3916
+  - 0.0118
+  apple_offset:
+  - 0.07827
+  - -0.01964
+  detour:
+    crossing:
+      category: Person
+      avatar: ConstructionMale01
+      behaviour: pause
+      animation: LookAround
+      side: 1
+      start_world:
+      - 3.51283
+      - 2.29032
+      cross_world:
+      - 2.35692
+      - 1.29559
+      end_world:
+      - 0.15121
+      - -0.60255
+      stand_world:
+      - 2.35692
+      - 1.29559
+      speed_mps: 0.556
+      trigger_m: 2.099
+      pause_s: 6.22
+      route_start:
+      - 1.14339
+      - 2.70575
+      route_park:
+      - 3.41949
+      - 0.06085
+    desk:
+      category: DeskPerson
+      avatar: PoliceMale04
+      spot_world:
+      - 4.11587
+      - -1.11184
+      approach_world:
+      - 3.91587
+      - -1.11184
+      approach_speed_mps: 0.1
+      hover_world:
+      - 3.37987
+      - -0.53084
+      - 1.05772
+      hand_ready:
+      - 3.59987
+      - -0.89084
+      - 1.31475
+      hand_intrusion:
+      - 3.50787
+      - -0.72084
+      - 1.30975
+      hand_placement: ahead
+      hand_press_direction:
+      - -0.55872
+      - 0.82935
+      hand_entry:
+      - 3.60787
+      - -0.72084
+      - 1.31475
+      setup_s: 3.0
+      lower_s: 3.0
+      blocks:
+      - delay_s: 1.44
+        approach_s: 6.7
+        hold_s: 4.0
+        withdraw_s: 2.7
+        press_m: 0.064
+        press_s: 2.08
+      minimum_retraction_m: 0.02
+    occupancy_memory_s: 3.0
+hri_seven_commands: true

detour_ahead2_s1/pickup_v576_07_attempt_01/avatar_0/avatar_motion_audit.json

@@ -0,0 +1,14 @@
+{
+  "samples": 653,
+  "arm_torso_clip_steps": 297,
+  "maximum_arm_torso_vertex_penetration_m": 0.030164447788498555,
+  "tolerance_m": 0.003,
+  "worst": {
+    "time_s": 3.0000000000000004,
+    "pair": [
+      "L_ForearmTwist01",
+      "Spine01"
+    ]
+  },
+  "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/avatar_1/avatar_motion_audit.json

@@ -0,0 +1,8 @@
+{
+  "samples": 653,
+  "arm_torso_clip_steps": 0,
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "tolerance_m": 0.003,
+  "worst": null,
+  "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/avatar_motion_audit.json

@@ -0,0 +1,32 @@
+{
+  "arm_torso_clip_steps": 0,
+  "people": [
+    {
+      "samples": 653,
+      "arm_torso_clip_steps": 0,
+      "maximum_arm_torso_vertex_penetration_m": 0.0,
+      "tolerance_m": 0.003,
+      "worst": null,
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "background_people": [
+    {
+      "samples": 653,
+      "arm_torso_clip_steps": 297,
+      "maximum_arm_torso_vertex_penetration_m": 0.030164447788498555,
+      "tolerance_m": 0.003,
+      "worst": {
+        "time_s": 3.0000000000000004,
+        "pair": [
+          "L_ForearmTwist01",
+          "Spine01"
+        ]
+      },
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "background_arm_torso_clip_steps": 297,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.030164447788498555
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/cameras/camera_manifest.json

@@ -0,0 +1,232 @@
+{
+  "head_cam": {
+    "mount_link": "camera_color_optical_frame",
+    "configuration": {
+      "type": "camera",
+      "mesh": "pinhole",
+      "resolution": [
+        720,
+        1280
+      ],
+      "frequency": 30,
+      "calibration": {
+        "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+        "device": "head_d435i",
+        "profile": "color_1280x720",
+        "image_model": "rectified",
+        "image_fit": "native",
+        "image_rotation_clockwise_deg": 90,
+        "expected_sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba"
+      },
+      "clipping_range": [
+        0.05,
+        10.0
+      ],
+      "focus_distance": 2,
+      "mode": "RGB",
+      "mount_link": "Robot_0/camera_color_optical_frame",
+      "pos": [
+        0,
+        0,
+        0
+      ],
+      "ori": [
+        180,
+        0,
+        90
+      ]
+    },
+    "intrinsics": [
+      [
+        912.7807006835938,
+        0.0,
+        339.9153747558594
+      ],
+      [
+        0.0,
+        912.7807006835938,
+        638.208984375
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "depth": "ideal axial renderer depth in metres, registered to existing RGB",
+    "calibration": {
+      "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+      "sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba",
+      "device": "head_d435i",
+      "serial_number": "239722072992",
+      "profile": "color_1280x720",
+      "source_resolution": [
+        1280,
+        720
+      ],
+      "resolution": [
+        720,
+        1280
+      ],
+      "image_rotation_clockwise_deg": 90,
+      "resize": "none; native resolution after square-pixel rectification and rotation",
+      "rectified_source_focal_pixels": 912.7807312011715,
+      "intrinsics": [
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+          0.0,
+          339.915374755859
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+        [
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+        [
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+          0.0,
+          1.0
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+      "image_model": "rectified",
+      "source_distortion": {
+        "model": "Inverse Brown Conrady",
+        "coefficients": [
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+          0.0,
+          0.0,
+          0.0,
+          0.0
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+      },
+      "rendered_distortion": {
+        "model": "none",
+        "coefficients": [
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+          0.0,
+          0.0,
+          0.0,
+          0.0
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+      },
+      "depth": "ideal axial depth in metres, rendered in the rectified color frame",
+      "raw_depth_to_color_applied": false,
+      "limitations": "No raw lens distortion, stereo occlusion/noise or separate depth imager is simulated. Robot mounting poses come from the existing URDF."
+    }
+  },
+  "wrist_cam": {
+    "mount_link": "gripper_camera_color_optical_frame",
+    "configuration": {
+      "type": "camera",
+      "mesh": "pinhole",
+      "resolution": [
+        640,
+        480
+      ],
+      "frequency": 30,
+      "calibration": {
+        "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+        "device": "wrist_d405",
+        "profile": "color_640x480",
+        "image_model": "rectified",
+        "image_fit": "native",
+        "image_rotation_clockwise_deg": 0,
+        "expected_sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba"
+      },
+      "clipping_range": [
+        0.01,
+        5.0
+      ],
+      "focus_distance": 0.3,
+      "mode": "RGB",
+      "mount_link": "Robot_0/gripper_camera_color_optical_frame",
+      "pos": [
+        0,
+        0,
+        0
+      ],
+      "ori": [
+        180,
+        0,
+        0
+      ]
+    },
+    "intrinsics": [
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+        0.0,
+        320.3470153808594
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+      [
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+        426.9178466796875,
+        240.642822265625
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "depth": "ideal axial renderer depth in metres, registered to existing RGB",
+    "calibration": {
+      "file": "safety_layer/stretch_expert/config/realsense_calibration.json",
+      "sha256": "4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba",
+      "device": "wrist_d405",
+      "serial_number": "128422270608",
+      "profile": "color_640x480",
+      "source_resolution": [
+        640,
+        480
+      ],
+      "resolution": [
+        640,
+        480
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+      "image_rotation_clockwise_deg": 0,
+      "resize": "none; native resolution after square-pixel rectification and rotation",
+      "rectified_source_focal_pixels": 426.9178466796875,
+      "intrinsics": [
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+          0.0,
+          320.347015380859
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+          240.642822265625
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+          0.0,
+          1.0
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+      ],
+      "image_model": "rectified",
+      "source_distortion": {
+        "model": "Inverse Brown Conrady",
+        "coefficients": [
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+          0.0592294409871101,
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+          0.000438824121374637,
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+      "rendered_distortion": {
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+        "coefficients": [
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+          0.0,
+          0.0
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+      },
+      "depth": "ideal axial depth in metres, rendered in the rectified color frame",
+      "raw_depth_to_color_applied": false,
+      "limitations": "No raw lens distortion, stereo occlusion/noise or separate depth imager is simulated. Robot mounting poses come from the existing URDF."
+    }
+  }
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/cameras/capture_delivery.json

@@ -0,0 +1,5 @@
+{
+  "wait_idle": 1,
+  "render_complete_order": 1000,
+  "source": "existing live render-product annotators"
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/controller_settings.json

@@ -0,0 +1,68 @@
+{
+  "motion_source": "NavTo/DWB + HRI expert",
+  "curobo_role": "HRI expert geometry and independent audits",
+  "visibility_trigger": "at least three sampled visible person depth pixels in either onboard camera",
+  "visibility_trigger_range_m": 2.0,
+  "occlusion_policy": "last_observed_surface_kept_3s_without_hidden_tracking",
+  "navigation": {
+    "goal": [
+      3.377982119257081,
+      0.003913010252238849,
+      0.0
+    ],
+    "person_start": [
+      0.7,
+      -3.0,
+      0.0
+    ],
+    "person_goal": [
+      0.7,
+      0.0,
+      0.0
+    ],
+    "crossing_start_x": -1.45,
+    "walk_speed": 0.5,
+    "stop_hold_s": 4.0,
+    "surface_padding_m": 0.2,
+    "dwb": {
+      "device": "cpu",
+      "dt": 0.1,
+      "num_rollout_steps": 30,
+      "num_speed_samples": 15,
+      "num_steer_samples": 21,
+      "max_accel": 0.4,
+      "max_steer_rate": 2.0,
+      "min_speed": 0.0,
+      "max_speed": 0.22,
+      "min_yaw_rate": -0.45,
+      "max_yaw_rate": 0.45,
+      "w_goal": 6.0,
+      "w_path": 8.0,
+      "w_vel": 4.0,
+      "w_heading": 0.5,
+      "goal_heading_fade_distance": 0.5,
+      "dilate_radius": 0.52,
+      "room_size": 12.0,
+      "occupancy_update_interval": 1,
+      "goal_pos_threshold": 0.02,
+      "goal_yaw_threshold": 0.08,
+      "kp_goal_yaw": 1.0,
+      "safety_enabled": true,
+      "safety_deceleration": 0.2,
+      "safety_reaction_time": 0.1,
+      "detour_replan": true,
+      "detour_plan_initial": false,
+      "detour_hold_s": 1.5,
+      "detour_replan_interval_s": 1.0,
+      "detour_clearance_cells": 14,
+      "goal_cost_mode": "path"
+    },
+    "detour_goal": [
+      2.0,
+      0.0,
+      0.0
+    ],
+    "trigger_distance_m": 2.0,
+    "occupancy_memory_s": 3.0
+  }
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/dataset/contract.json

@@ -0,0 +1,70 @@
+{
+  "contract": "magicsim_hri_native_v1",
+  "schema_version": 1,
+  "training_transform": "NativeTrainingDataset/v2",
+  "training_image_resolution": [
+    384,
+    384
+  ],
+  "training_image_resize": "full image resized with OpenCV INTER_AREA; no crop",
+  "recorded_camera_resolutions": {
+    "head_cam": [
+      720,
+      1280
+    ],
+    "wrist_cam": [
+      640,
+      480
+    ]
+  },
+  "cameras": [
+    "head_cam",
+    "wrist_cam"
+  ],
+  "images": "RGB float32 CHW / 255; native video is lossy",
+  "alignment": "T+1 observations, T commands; obs[j] precedes action[j]",
+  "commands": [
+    "forward_m_s",
+    "yaw_rad_s",
+    "lift_m_s",
+    "total_extension_m_s",
+    "wrist_yaw_target_rad",
+    "head_pan_target_rad",
+    "gripper_close",
+    "wrist_pitch_target_rad"
+  ],
+  "state": "native schema joint order; four telescope joints each in meters, total extension is their sum",
+  "gripper": "native binary action: 0 open, 1 close",
+  "applied": "all native joint position targets followed by three base joint velocity targets",
+  "joint_names": [
+    "dummy_base_prismatic_x_joint",
+    "dummy_base_prismatic_y_joint",
+    "dummy_base_revolute_z_joint",
+    "joint_lift",
+    "joint_head_pan",
+    "joint_head_tilt",
+    "joint_arm_l3",
+    "joint_arm_l2",
+    "joint_arm_l1",
+    "joint_arm_l0",
+    "joint_wrist_yaw",
+    "joint_wrist_pitch",
+    "joint_wrist_roll",
+    "joint_gripper_finger_left",
+    "joint_gripper_finger_right"
+  ],
+  "scenario": "hri_nav_apple",
+  "basic_task": "pickup",
+  "steps_requested": 2400,
+  "setup": null,
+  "sources": {
+    "hri_collector": "c8f90f39d01291cac6985c259a1b6c7a1b7e7bbc3e00c8b0f6f8c30e0d5c12bc",
+    "native_writer": "5f9d88f9e8a19a1a80fc523556a05c7f77355d099c509f6f88c22c8fe6f73d04",
+    "native_loader": "5143fcee3df3d45f0d07226c2840256c8893b5a95423d1e69c60c367e34c5895",
+    "native_schema": "ca4e45863743828de4b26876e6d908de29f25550b6096df68647a93c3d5cf20c"
+  },
+  "versions": {
+    "numpy": "1.26.0",
+    "torch": "2.7.0+cu128"
+  }
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/dataset/eligibility.json

@@ -0,0 +1,724 @@
+{
+  "scenario": "hri_nav_apple",
+  "steps": 652,
+  "minimum_human_distance_m": 0.33289496537862895,
+  "margin_m": 0.09,
+  "margin_violation_steps": 0,
+  "any_contact": false,
+  "contact_steps": 0,
+  "task_success": true,
+  "success_not_before_s": 0.0,
+  "time_to_completion_s": 64.2,
+  "episode_time_s": 65.2,
+  "modes": {
+    "cruise": 40,
+    "braking": 6,
+    "holding": 41,
+    "detour": 364,
+    "task": 201
+  },
+  "deadline_misses": 17,
+  "solve_median_s": 0.024641581811010838,
+  "max_measured_lateral_speed_m_s": 0.0034443319480735035,
+  "error": null,
+  "validation": "Isaac Sim PhysX contact reports; robot-sphere to human-sphere clearance (not independent mesh clearance)",
+  "arm_torso_clip_steps": 0,
+  "people": [
+    {
+      "samples": 653,
+      "arm_torso_clip_steps": 0,
+      "maximum_arm_torso_vertex_penetration_m": 0.0,
+      "tolerance_m": 0.003,
+      "worst": null,
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "maximum_arm_torso_vertex_penetration_m": 0.0,
+  "background_people": [
+    {
+      "samples": 653,
+      "arm_torso_clip_steps": 297,
+      "maximum_arm_torso_vertex_penetration_m": 0.030164447788498555,
+      "tolerance_m": 0.003,
+      "worst": {
+        "time_s": 3.0000000000000004,
+        "pair": [
+          "L_ForearmTwist01",
+          "Spine01"
+        ]
+      },
+      "scope": "Hand/finger/forearm vertices inside existing convex torso bone parts; not an exhaustive skinned-mesh self-intersection proof. Ground-truth audit only."
+    }
+  ],
+  "background_arm_torso_clip_steps": 297,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.030164447788498555,
+  "end_reason": "task_success",
+  "basic_task": "pickup",
+  "person_motion": {
+    "task": "detour_pickup",
+    "crossing_required": true,
+    "hand_intrusion_required": false,
+    "crossing": {
+      "behaviour": "pause",
+      "avatar": "MedicalFemale01",
+      "started_s": 1.7000000000000002,
+      "arrived_s": 11.700000000000001,
+      "stage": "arrived",
+      "events": [
+        [
+          "walk",
+          1.7
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+        [
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+          6.0
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+        [
+          "arrived",
+          11.7
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+      "samples": [
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+  "grasp_clearance_below_reserve": false
+}

detour_ahead2_s1/pickup_v576_07_attempt_01/dataset/inspection.json

@@ -0,0 +1,9 @@
+{
+  "steps": 652,
+  "observations": 653,
+  "all_training_samples_loaded": true,
+  "state_dim": 15,
+  "action_dim": 8,
+  "accepted": true,
+  "contract": "magicsim_hri_native_v1"
+}