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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": [
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+        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,
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+      "image_model": "rectified",
+      "source_distortion": {
+        "model": "Inverse Brown Conrady",
+        "coefficients": [
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+          -0.000211199352634139,
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+        "model": "none",
+        "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."
+    }
+  }
+}

detour_ahead2_f/pickup_v571_15_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_f/pickup_v571_15_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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+    "person_start": [
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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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+    "trigger_distance_m": 2.0,
+    "occupancy_memory_s": 3.0
+  }
+}

detour_ahead2_f/pickup_v571_15_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": {
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+    "wrist_cam": [
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+      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": "33347b8f09e90ebe27530044c44102d0bd616bd96a945f9e1204cfb634d934bc",
+    "native_schema": "ca4e45863743828de4b26876e6d908de29f25550b6096df68647a93c3d5cf20c"
+  },
+  "versions": {
+    "numpy": "1.26.0",
+    "torch": "2.7.0+cu128"
+  }
+}

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/eligibility.json

@@ -0,0 +1,1146 @@
+{
+  "scenario": "hri_nav_apple",
+  "steps": 1271,
+  "minimum_human_distance_m": 0.1551104364283313,
+  "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": 126.1,
+  "episode_time_s": 127.10000000000001,
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+    "wait": 70
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+  "max_measured_lateral_speed_m_s": 0.008217912101464525,
+  "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": 1272,
+      "maximum_arm_torso_vertex_penetration_m": 0.05308070797197473,
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+      "worst": {
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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."
+    }
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+  "background_arm_torso_clip_steps": 1272,
+  "background_maximum_arm_torso_vertex_penetration_m": 0.05308070797197473,
+  "end_reason": "task_success",
+  "basic_task": "pickup",
+  "person_motion": {
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+      "max_heading_deviation_rad": 0.9618384135162853
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+    "desk_person": {
+      "avatar": "MedicalFemale01",
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+          "press_s": 0.0
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+          84.62,
+          87.58
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+        [
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+          101.38,
+          104.64
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+        [
+          "docked",
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+        [
+          "hover",
+          60.2
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+        [
+          "press",
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+        0.92705
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+      "from_xy": [
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+  },
+  "avoidance_source": "camera_depth",
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+  "critical_blind_steps": 0,
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+      "tracks_declared_apple",
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+    ],
+    "manipulation": [
+      "tracks_declared_apple",
+      -0.6
+    ]
+  },
+  "occlusion_policy": "last_observed_surface_kept_3s_without_hidden_tracking",
+  "avoidance_steps_without_person_pixels": 0,
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+  "demonstration_accepted": true,
+  "execution_noise": {
+    "profile": "execution_noise_v4",
+    "seed": 529823294,
+    "label": "expert intended command; the applied command is in action.applied / steps.jsonl",
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+      {
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+          "forward_offset_m_s": 0.0225
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+        "end_s": 16.3,
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+      {
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+      {
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+          "forward_offset_m_s": -0.0104
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+        "steps": 16,
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+      {
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+      {
+        "id": 6,
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+        "phase": "dock",
+        "start_s": 44.9,
+        "planned_end_s": 46.173,
+        "params": {
+          "head_pan_offset_rad": 0.1633
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+        "steps": 13,
+        "end_s": 46.2,
+        "truncated_by_phase": null
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+      {
+        "id": 7,
+        "kind": "head",
+        "phase": "look",
+        "start_s": 52.5,
+        "planned_end_s": 53.382,
+        "params": {
+          "head_pan_offset_rad": -0.2309
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+        "steps": 9,
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+      {
+        "id": 8,
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+        "start_s": 60.9,
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+        "truncated_by_phase": null
+      }
+    ],
+    "window_count": 10,
+    "control_steps": 1271,
+    "perturbed_steps": 140,
+    "perturbed_steps_by_kind": {
+      "base": 54,
+      "head": 78,
+      "arm": 8
+    },
+    "skipped_starts_by_phase": {
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+      "above_grasp": 1,
+      "approach": 2,
+      "lift": 1,
+      "retract": 2,
+      "hold": 1
+    },
+    "forbidden_phases": [
+      "wait",
+      "above_grasp",
+      "approach",
+      "close",
+      "lift",
+      "retract",
+      "hold"
+    ],
+    "base_windows_need_forward_m_s": [
+      0.035,
+      0.03
+    ],
+    "phase_kinds": {
+      "navigate": [
+        "base",
+        "head"
+      ],
+      "dock": [
+        "base",
+        "head"
+      ],
+      "settle": [
+        "head"
+      ],
+      "look": [
+        "head"
+      ],
+      "lift_clearance": [
+        "head"
+      ],
+      "raise": [
+        "head",
+        "arm"
+      ]
+    }
+  },
+  "legacy_endpoint_metrics": {
+    "minimum_human_distance_m": 0.1551104364283313,
+    "margin_violation_steps": 0,
+    "critical_blind_steps": 0,
+    "task_success": true,
+    "time_to_completion_s": 126.1
+  },
+  "grading_policy": "visible_camera_outcomes_v2",
+  "visibility_warnings": [
+    "unseen_nearby_hazard"
+  ],
+  "human_interaction_complete": true,
+  "minimum_static_distance_m": 0.028269914910197258,
+  "static_margin_violation_steps": 0,
+  "unseen_hazard_steps": 19,
+  "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": 3.1,
+    "stopped_s": 3.5,
+    "resumed_s": 7.800000000000001,
+    "slowing_commands": 4,
+    "hidden_braking_steps": 0,
+    "max_detour_m": 0.9045834042768192,
+    "max_turn_rad": 0.9618384135162853,
+    "max_route_deviation_m": 0.9045834042768192,
+    "max_heading_deviation_rad": 0.9618384135162853
+  },
+  "apple_pickup": {
+    "lifted_s": 120.6,
+    "held_retracted_s": 127.1,
+    "maximum_lift_m": 0.06945419311523438
+  },
+  "head_joint_max_travel_rad": 1.5710088978330532,
+  "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": 0.03186928717616124,
+  "grasp_clearance_below_reserve": false
+}

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/inspection.json

@@ -0,0 +1,9 @@
+{
+  "steps": 1271,
+  "observations": 1272,
+  "all_training_samples_loaded": true,
+  "state_dim": 15,
+  "action_dim": 8,
+  "accepted": true,
+  "contract": "magicsim_hri_native_v1"
+}

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/narration.json

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

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/scene.json

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

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/task.json

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

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/magicsim_manifest.json

@@ -0,0 +1,151 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-10-26 17:06:37"
+    },
+    "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_v571_15_attempt_01",
+        "task_type": "hri_hri_nav_apple"
+    }
+}

detour_ahead2_f/pickup_v571_15_attempt_01/dataset/sim_info/magicsim_manifest.json

@@ -0,0 +1,151 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-10-26 17:06:37"
+    },
+    "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": {
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+}

detour_ahead2_f/pickup_v571_15_attempt_01/execution_audit.json

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detour_ahead2_f/pickup_v571_15_attempt_01/execution_settings.json

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detour_ahead2_f/pickup_v571_15_attempt_01/human_fit.json

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detour_ahead2_f/pickup_v571_15_attempt_01/metrics.json

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+        -0.25758,
+        0.92705
+      ],
+      "live": [
+        2.66572,
+        -0.27098,
+        0.92372
+      ],
+      "shift_m": 0.018876053047793946,
+      "clearance": {
+        "need": 0.020499999999999997,
+        "at_recipe": 0.023,
+        "chosen": 0.023,
+        "tried": 1
+      },
+      "target": [
+        2.66572,
+        -0.27098,
+        0.92705
+      ],
+      "extra_depth_m": 0.012,
+      "extra_raise_m": 0.0
+    },
+    "base_retreat": null,
+    "base_realign": {
+      "distance_m": 0.0235,
+      "direction": "forward",
+      "heading_error_m": -0.0235,
+      "lateral_error_m": 0.0384,
+      "from_xy": [
+        2.6242,
+        0.5712
+      ],
+      "started_s": 109.5,
+      "travelled_m": 0.0199,
+      "finished_s": 110.1,
+      "heading_error_after_m": -0.0036,
+      "lateral_error_after_m": 0.0581,
+      "park_error_m": 0.0097
+    }
+  },
+  "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": 529823294,
+    "label": "expert intended command; the applied command is in action.applied / steps.jsonl",
+    "windows": [
+      {
+        "id": 0,
+        "kind": "base",
+        "phase": "navigate",
+        "start_s": 1.2,
+        "planned_end_s": 2.485,
+        "params": {
+          "yaw_mode": "offset",
+          "yaw_scale": 1.5877,
+          "yaw_offset_rad_s": -0.1313,
+          "forward_offset_m_s": -0.0203
+        },
+        "steps": 13,
+        "end_s": 2.5,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 1,
+        "kind": "base",
+        "phase": "navigate",
+        "start_s": 10.4,
+        "planned_end_s": 11.86,
+        "params": {
+          "yaw_mode": "scale",
+          "yaw_scale": 1.5883,
+          "yaw_offset_rad_s": 0.1066,
+          "forward_offset_m_s": 0.0194
+        },
+        "steps": 15,
+        "end_s": 11.9,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 2,
+        "kind": "base",
+        "phase": "navigate",
+        "start_s": 15.3,
+        "planned_end_s": 16.276,
+        "params": {
+          "yaw_mode": "scale",
+          "yaw_scale": 1.3388,
+          "yaw_offset_rad_s": -0.0936,
+          "forward_offset_m_s": 0.0225
+        },
+        "steps": 10,
+        "end_s": 16.3,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 3,
+        "kind": "head",
+        "phase": "navigate",
+        "start_s": 21.3,
+        "planned_end_s": 22.934,
+        "params": {
+          "head_pan_offset_rad": 0.2461
+        },
+        "steps": 17,
+        "end_s": 23.0,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 4,
+        "kind": "base",
+        "phase": "dock",
+        "start_s": 28.7,
+        "planned_end_s": 30.266,
+        "params": {
+          "yaw_mode": "offset",
+          "yaw_scale": 1.357,
+          "yaw_offset_rad_s": 0.1891,
+          "forward_offset_m_s": -0.0104
+        },
+        "steps": 16,
+        "end_s": 30.3,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 5,
+        "kind": "head",
+        "phase": "dock",
+        "start_s": 36.1,
+        "planned_end_s": 37.938,
+        "params": {
+          "head_pan_offset_rad": -0.2521
+        },
+        "steps": 19,
+        "end_s": 38.0,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 6,
+        "kind": "head",
+        "phase": "dock",
+        "start_s": 44.9,
+        "planned_end_s": 46.173,
+        "params": {
+          "head_pan_offset_rad": 0.1633
+        },
+        "steps": 13,
+        "end_s": 46.2,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 7,
+        "kind": "head",
+        "phase": "look",
+        "start_s": 52.5,
+        "planned_end_s": 53.382,
+        "params": {
+          "head_pan_offset_rad": -0.2309
+        },
+        "steps": 9,
+        "end_s": 53.4,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 8,
+        "kind": "arm",
+        "phase": "raise",
+        "start_s": 60.9,
+        "planned_end_s": 61.629,
+        "params": {
+          "joint": "lift",
+          "speed_m_s": 0.05
+        },
+        "steps": 8,
+        "end_s": 61.7,
+        "truncated_by_phase": null
+      },
+      {
+        "id": 9,
+        "kind": "head",
+        "phase": "raise",
+        "start_s": 69.0,
+        "planned_end_s": 70.934,
+        "params": {
+          "head_pan_offset_rad": 0.1568
+        },
+        "steps": 20,
+        "end_s": 71.0,
+        "truncated_by_phase": null
+      }
+    ],
+    "window_count": 10,
+    "control_steps": 1271,
+    "perturbed_steps": 140,
+    "perturbed_steps_by_kind": {
+      "base": 54,
+      "head": 78,
+      "arm": 8
+    },
+    "skipped_starts_by_phase": {
+      "wait": 13,
+      "realign": 1,
+      "above_grasp": 1,
+      "approach": 2,
+      "lift": 1,
+      "retract": 2,
+      "hold": 1
+    },
+    "forbidden_phases": [
+      "wait",
+      "above_grasp",
+      "approach",
+      "close",
+      "lift",
+      "retract",
+      "hold"
+    ],
+    "base_windows_need_forward_m_s": [
+      0.035,
+      0.03
+    ],
+    "phase_kinds": {
+      "navigate": [
+        "base",
+        "head"
+      ],
+      "dock": [
+        "base",
+        "head"
+      ],
+      "settle": [
+        "head"
+      ],
+      "look": [
+        "head"
+      ],
+      "lift_clearance": [
+        "head"
+      ],
+      "raise": [
+        "head",
+        "arm"
+      ]
+    }
+  },
+  "legacy_endpoint_metrics": {
+    "minimum_human_distance_m": 0.1551104364283313,
+    "margin_violation_steps": 0,
+    "critical_blind_steps": 0,
+    "task_success": true,
+    "time_to_completion_s": 126.1
+  },
+  "grading_policy": "visible_camera_outcomes_v2",
+  "visibility_warnings": [
+    "unseen_nearby_hazard"
+  ],
+  "human_interaction_complete": true,
+  "minimum_static_distance_m": 0.028269914910197258,
+  "static_margin_violation_steps": 0,
+  "unseen_hazard_steps": 19,
+  "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": 3.1,
+    "stopped_s": 3.5,
+    "resumed_s": 7.800000000000001,
+    "slowing_commands": 4,
+    "hidden_braking_steps": 0,
+    "max_detour_m": 0.9045834042768192,
+    "max_turn_rad": 0.9618384135162853,
+    "max_route_deviation_m": 0.9045834042768192,
+    "max_heading_deviation_rad": 0.9618384135162853
+  },
+  "apple_pickup": {
+    "lifted_s": 120.6,
+    "held_retracted_s": 127.1,
+    "maximum_lift_m": 0.06945419311523438
+  },
+  "head_joint_max_travel_rad": 1.5710088978330532,
+  "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": 0.03186928717616124,
+  "grasp_clearance_below_reserve": false
+}

detour_ahead2_f/pickup_v571_15_attempt_01/preflight.json

@@ -0,0 +1,13 @@
+{
+  "valid": true,
+  "reasons": [],
+  "initial_clearance": {
+    "human_gap_m": 2.3744609146196005,
+    "static_gap_m": 0.30000001192092896,
+    "closest_part": 1
+  },
+  "object_spawn_offset_m": 0.018875890473043156,
+  "target_visible": true,
+  "target_visibility_required_at_start": false,
+  "pickup_visibility_checked_at_waiting_pose": true
+}

detour_ahead2_f/pickup_v571_15_attempt_01/resolved_scene.yaml

@@ -0,0 +1,737 @@
+env_string: StretchExpertStepEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 6
+    dt: 0.016666666666666666
+    seed: 529823294
+    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:
+      - 1085.2
+      - 1085.2
+      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:
+          - 0.7108228980322002
+          - 0.20584334852880232
+          - 0.8994918699186992
+          pos:
+          - - 2.5855
+            - -0.4326
+            - -0.0
+          - - 2.5855
+            - -0.4326
+            - -0.0
+          ori:
+          - - 0
+            - 0
+            - 0
+          - - 0
+            - 0
+            - 0
+        table_1:
+          visual:
+            visual_material:
+              usd:
+              - $MAGICSIM_ASSETS/Material/Source/Wood/Wood_Tiles_Walnut_Multicolor.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/ball/ball_003/Object.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 2.65285
+          - -0.25758
+          - 0.9270452
+          ori:
+          - 0
+          - 0
+          - 73.23
+          scale:
+          - 1.3909
+          - 1.3909
+          - 1.3909
+        apple_1:
+          visual:
+            color:
+            - 0.5185
+            - 0.8096
+            - 0.2924
+          physics:
+            type: rigid
+            mass: 0.15
+            collision: true
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.0
+              restitution: 0.0
+    light:
+      scene_light:
+        types:
+        - Rect
+        common:
+          pos:
+          - 3.293
+          - 0.246
+          - 2.304
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 5679.0
+          - 5679.0
+        Rect:
+          intensity_range:
+          - 3644.3
+          - 3644.3
+          width_range:
+          - 1.5
+          - 1.5
+          height_range:
+          - 1.5
+          - 1.5
+  anim:
+    avatar:
+      graph: magic
+      Person:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Police/female_adult_police_03_new/female_adult_police_03_new.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 1.6651444738474666
+          - -1.4073869301679962
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 103.56151088564981
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          body_collision:
+            representation: bone_rigid
+            friction: 0.6
+            restitution: 0.1
+      DeskPerson:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - 3.37085
+          - -0.57958
+          - 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:
+  - 2.6347188305870346
+  - 0.5690739388484013
+  - 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:
+  - 2.65285
+  - -0.25758
+  - 0.9270452
+  apple_scale:
+  - 1.3909
+  - 1.3909
+  - 1.3909
+  apple_yaw_deg: 73.23
+  desk_position:
+  - 2.5855
+  - -0.4326
+  - -0.0
+  desk_scale:
+  - 0.7108228980322002
+  - 0.20584334852880232
+  - 0.8994918699186992
+  desk_dims:
+  - 0.7947
+  - 0.4967
+  - 0.8851
+  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: 0.02
+  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:
+  - 0.7947
+  - 0.4967
+  - 0.8851
+  object_id: ball_003
+  object_noun: ball
+  object_top_m: 0.0375543
+  wrist_grasp_from_start: false
+  head_track_apple: true
+  phase_budget_s:
+    navigate: 72.0
+    dock: 72.0
+    lift_clearance: 18.0
+    wait: 84.5
+    above_grasp: 84.5
+    approach: 78.5
+    lift: 12.0
+    hold: 12.0
+  grasp_wrist_yaw_rad: 0.1625
+  grasp_wrist_pitch_rad: -0.1568
+  predicted_grasp_desk_clearance_m: 0.03186928717616124
+  grasp_clearance_below_reserve: false
+  table_material: Wood_Tiles_Walnut_Multicolor
+  park_standoff_m: 0.8364
+  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: Asphalt_Fine
+  mdl_path: $MAGICSIM_ASSETS/Material/Ground/Asphalt_Fine.mdl
+  mdl_name: Asphalt_Fine
+hri_basic:
+  task: pickup
+  robot_start:
+  - -1.07432
+  - -0.3256
+  - -0.28513
+  lift_m: 0.58739
+  extension_m: 0.11662
+  layout_offset:
+  - -0.3245
+  - 0.5394
+  apple_offset:
+  - 0.06735
+  - -0.01333
+  detour:
+    crossing:
+      category: Person
+      avatar: PoliceFemale03
+      behaviour: pause
+      animation: Idle
+      side: -1
+      start_world:
+      - 1.66514
+      - -1.40739
+      cross_world:
+      - 1.26792
+      - 0.23938
+      end_world:
+      - 0.53725
+      - 3.2685
+      stand_world:
+      - 1.26792
+      - 0.23938
+      speed_mps: 0.542
+      trigger_m: 2.112
+      pause_s: 7.75
+      route_start:
+      - -1.07432
+      - -0.3256
+      route_park:
+      - 2.63472
+      - 0.56907
+    desk:
+      category: DeskPerson
+      avatar: MedicalFemale01
+      spot_world:
+      - 3.37085
+      - -0.57958
+      approach_world:
+      - 3.17085
+      - -0.57958
+      approach_speed_mps: 0.1
+      hover_world:
+      - 2.65285
+      - 0.00242
+      - 1.02705
+      hand_ready:
+      - 2.87285
+      - -0.35758
+      - 1.22705
+      hand_intrusion:
+      - 2.77585
+      - -0.18358
+      - 1.1146
+      hand_placement: ahead
+      hand_press_direction:
+      - -0.55159
+      - 0.83411
+      hand_entry:
+      - 2.87585
+      - -0.18358
+      - 1.22705
+      setup_s: 3.0
+      lower_s: 3.0
+      blocks:
+      - delay_s: 0.78
+        approach_s: 5.39
+        hold_s: 4.88
+        withdraw_s: 2.09
+        press_m: 0.0
+        press_s: 0.0
+      - delay_s: 2.2
+        approach_s: 5.91
+        hold_s: 3.17
+        withdraw_s: 2.96
+        press_m: 0.0
+        press_s: 0.0
+      - delay_s: 3.41
+        approach_s: 6.39
+        hold_s: 4.0
+        withdraw_s: 3.26
+        press_m: 0.076
+        press_s: 2.72
+      minimum_retraction_m: 0.02
+    occupancy_memory_s: 3.0
+hri_seven_commands: true

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