Upload validated 43-episode sim_ep_03 dataset and debug artifacts

README.md

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+---
+pretty_name: sim_ep_03
+task_categories:
+- robotics
+tags:
+- real2sim
+- ur5e
+- lerobot
+---
+# sim_ep_03
+
+43 simulated cup-placement episodes derived from the real recordings in
+[mzxuan/manipulation_realworld](https://huggingface.co/datasets/mzxuan/manipulation_realworld).
+Each source target is preserved (16 pink, 14 yellow, 13 blue); clutter is randomized.
+The reconstructed environment and appearance follow the source setup.
+Actions come from a state-feedback simulation expert, not extraction from video.
+
+- `dataset/local/sim_ep_03_train` and `sim_ep_03_validation`: validated LeRobot training splits.
+- `raw/episodeXXXX.tar.gz`: accepted raw rollout, lossless camera frames, camera videos,
+  synchronized state/action HDF5, scene specification, contact traces, and validation.
+- `debug/videos` and `debug/panels`: real/simulation comparisons for all 43 episodes.
+- `inputs/prepared_scenes_and_appearance.tar.gz`: real-derived scene inputs and appearance assets.
+- `reproducibility.tar.gz`: frozen configuration, code snapshots, provenance and acceptance reports.
+- `UPLOAD_MANIFEST.json`: sizes and SHA-256 checksums of published files.
+
+Control/capture is 15 Hz, physics/contact logging is 300 Hz, with seven state/action channels
+and training horizon 50. Cameras are wall, wrist, and body_forward.
+All 43 episodes, the actual OpenPI loader, and 129 debug videos plus 43 panels passed the
+completion gate before upload. Consult the packaged reports for individual checks.
+
+Original recordings remain in the linked source dataset. Source archive SHA-256:
+`85e7410827c2b5d33bc7099b7e6a8833f5fd0331959463c9f24199a289d3f85b`.
+Archives retain paths relative to the generation run; JSON provenance may contain original
+machine paths that must be remapped when reproducing the simulation elsewhere.
+Failed attempts, runtime caches, credentials, and dependency installations are not included.

dataset/DATASET.md

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+This export is sim_ep_03: clutter-only state-feedback pick/place. See TASK.json for task semantics. The upstream obstruction-task examples below describe a different dataset; the timing, camera and training interfaces apply.
+
+# UR5e obstruction-removal training data
+
+The current run lives in `runs/pi05_15hz_3variants_20261023/`. It requests
+**171 episodes and 513 camera videos**, if every generation passes. Capture,
+measured-state sampling and held-action commands are **15 Hz**; physics and
+contact logging are **300 Hz**. Each sample spans exactly 20 physics steps.
+The plan retains ten historical obstacle scenes for originals 0, 10, 16, 27,
+and 36, plus the ten scenes already generated for original 1. Each of the
+remaining 37 originals has **three** obstacle variations with surrounding
+clutter. Failed attempts never count as accepted episodes.
+
+Existing 25 Hz captures remain in `runs/pi05_430_three_camera_20261022/`.
+They are not relabeled or interpolated to 15 Hz. Scene specifications and
+controllers are reused, followed by fresh physical execution and all three
+camera captures. The old camera-repair queue and separate 46-scene supplemental
+queue are superseded. The new pilot covers a detour, historical removal and
+new destination-blocking removal, including a held-out source, before scaling.
+
+Use the repository `Makefile` and `config/pi05_generation.json`; see
+[reproduction instructions](PI05_GENERATION.md). `make start` runs the pilot,
+full two-GPU queue, export, and actual openpi loader validation in order.
+
+Read the current run's `generation_plan.json`,
+`manifest.json`, `physics_status.json`, `render_status.json`, and export reports
+for actual progress and accepted/failed counts. The presence of a video or an
+older `task_success` flag does **not** make an episode eligible for training.
+
+## Verified training interface
+
+On 2026-10-22, the upstream openpi checkout was pinned to
+`215abfb217dbac7d5f1273282331b9b1866c0479`. Its `pyproject.toml` pins LeRobot to
+`0cf864870cf29f4738d3ade893e6fd13fbd7cdb5`, whose dataset format is **v2.1**.
+This is deliberately not an export to the latest, incompatible LeRobot layout.
+The exporter also requires `datasets==3.6.0` from openpi's lockfile. Version 4
+changes column access and Parquet feature metadata and fails the pinned loader.
+
+References: [openpi custom-data instructions](https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/README.md),
+[dependency pin](https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/pyproject.toml),
+[model/data transforms](https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/src/openpi/training/config.py).
+
+Use **pi05_base**, not the Franka/DROID expert or DROID normalization. The
+UR5e is a different embodiment. `policies/pi05_ur5e.py` defines the custom
+adapter and config. The model retains action dimension 32 and action horizon
+50; seven real channels are padded only inside the model preprocessing.
+
+## State, actions, and time
+
+The seven-channel state and action order is:
+
+1. `shoulder_pan_joint`
+2. `shoulder_lift_joint`
+3. `elbow_joint`
+4. `wrist_1_joint`
+5. `wrist_2_joint`
+6. `wrist_3_joint`
+7. `gripper_open_fraction`
+
+Arm positions are absolute radians in the imported UR5e URDF convention;
+velocities are radians/second. State is measured from PhysX, independently of
+commanded joint targets. This is a single-arm seven-channel dataset, not the
+historical padded 14-channel RoboPRO contract.
+
+Gripper opening is `1 - native_position / 255` (1 open, 0 closed).
+Commanded opening uses the requested native actuator position. Measured opening
+uses the finger-joint-to-native calibration map; it is **not** a measured jaw
+aperture or a force measurement. The mapping, raw native measurement/request,
+finger angle, and all articulation joint positions/order are preserved in each
+raw `synchronized.hdf5`. The gripper response retains the inherited latency and
+rate model. Finger-drive effort is a simulator actuator setting, not calibrated
+physical squeezing force.
+
+Physics runs at 300 Hz; actions and image observations run at **15 Hz**.
+Each sample has measured state and all three camera images at simulation time `t`.
+Its absolute target is then issued and held over `[t, t + 1/15)`.
+Velocity feedforward is the difference between consecutive commanded positions
+divided by 1/15, held throughout that control interval. Gripper command latency
+is part of the simulated plant. `action_end_timestamp` records the actual end.
+Rendering freezes physics, so sequential camera readbacks share the same
+simulation timestamp. There is no pairing of cached images with later joints.
+Wall-clock rendering duration is unrelated to action duration.
+
+## Cameras and model mapping
+
+All three streams are RGB uint8, 640 × 480, with calibration in `scene_spec.json`:
+
+| Export feature | Source HDF5 role | openpi input |
+| --- | --- | --- |
+| `observation.images.wall` | `countertop_camera` | `base_0_rgb` |
+| `observation.images.wrist` | `left_camera`, attached to flange | `left_wrist_0_rgb` |
+| `observation.images.body_forward` | `right_camera`, base-mounted | `right_wrist_0_rgb` |
+
+All three model image masks are true. The model's fixed third slot is named
+`right_wrist_0_rgb`; its physical camera in this dataset is the base-mounted
+body-forward camera, not a second wrist camera. Physical roles and calibration
+remain explicit in exported feature names and scene metadata.
+Openpi resizes with its standard 224 × 224 image transform. No arbitrary flips
+are applied. Camera poses use OpenCV optical axes in the scene specification.
+Stored flange/object poses are xyz in meters followed by quaternion **wxyz**.
+The wrist extrinsic is relative to the flange, whose measured pose is retained.
+
+Raw PNGs remain available. LeRobot contains separate MP4 streams and Parquet
+numeric samples with identical frame counts. The exporter decodes every video
+and checks presentation timestamps against the 15 Hz sample grid.
+
+### Earlier two-camera completion method (archived 25 Hz run)
+
+The following method applied to the archived 25 Hz run, not the new 15 Hz run.
+Compatible completed two-camera episodes could fill variation zero of their
+original recording by rendering only `body_forward`. The existing wall/wrist
+PNGs are reused unchanged. Their measured joint, action, gripper, phase, and
+timestamp datasets are copied bit-for-bit to a new HDF5 file; the original
+files remain untouched. The third view uses every saved articulation DOF
+(including measured gripper mimic joints) and object poses logged at the same
+simulation timestamp. It never interpolates states or executes new dynamics.
+The reconstructed flange must agree with the recorded flange within 2 mm and
+0.01 rad at every frame. This is visual replay of an already validated physical
+execution, not a newly executed demonstration. The new camera's exposure time
+is the original simulation time, not its later wall-clock render time.
+
+`third_camera_status.json` records progress and `third_camera_completion.json`
+records provenance, timestamp error, flange error, source checksum, and exact
+preservation of existing numeric datasets. A separate complete episode must
+pass rendering, export, and the real openpi loader before this method scales.
+If later episodes fail completion, the normal batch falls back to fresh capture.
+These reused episodes occupy existing slots in the reduced plan; they do
+not increase the count or displace the 50 historical obstacle variations.
+
+### October 23 camera identity correction
+
+The initial multi-camera capture had a viewport/readback timing defect: the
+wrist stream often repeated the wall view. All 73 previously accepted captures
+were withheld after image comparison, and their previous export gates were
+invalidated. File counts, time alignment, and successful loader decoding alone
+did not establish correct camera identity.
+
+Capture now uses a fixed render-camera prim with the requested calibrated pose
+and intrinsics, and at least 16 rendered frames before each readback. The
+requested/render-product binding and pose are checked at every exposure.
+`camera_poses_base_opencv` and `camera_identity_version` are recorded; acceptance
+checks those poses against wall/body calibration and measured flange × wrist
+extrinsic, and rejects near-duplicate camera views at distributed samples.
+
+`analysis.pi05_camera_recovery` first repairs episode 31 and exports it through
+the actual openpi loader. It then repairs the remaining completed captures.
+Reference images are rendered at evenly spaced frames and every task-phase
+transition to determine which streams need replacement. Correct streams are
+retained, while faulty streams are rendered from the original physical states.
+All existing robot numeric datasets must remain bit-for-bit equal. Corrected
+training captures live in `camera_repaired_v1/`; prior `videos/` addresses point
+to the corrected videos once their replacement passes, with old videos saved
+under `videos_before_camera_repair/`. Original raw captures remain for audit.
+`camera_repair_status.json` reports actual repaired counts. These repairs belong to the archived 25 Hz run. The current 15 Hz pipeline uses
+the corrected capture implementation and has its own pilot gate.
+
+### Parallel execution on both GPUs
+
+The current coordinator is `analysis.pi05_parallel`: two persistent Isaac
+processes, one per RTX 4080 SUPER. Each process uses explicit CUDA-index renderer
+selection (`active_cuda_gpus`), the matching physics GPU setting, a separate
+portable Kit directory, and a GPU-specific lock. Workers render offscreen;
+GPU 1 cannot present a window through the desktop display attached to GPU 0.
+The GPU 1 offscreen preview passed the same camera-identity comparisons.
+
+Each worker owns a different episode/variation output directory and writes an
+isolated result file. Only the coordinator updates aggregate progress and
+records accepted videos. It schedules fresh physical generation and
+three-camera capture, followed by unified export and openpi validation.
+Existing 25 Hz captures remain separate. Physical failures remain reported;
+parallel execution does not relabel them successful. Two workers do not imply twice the measured throughput: CPU physics,
+PNG writes, and encoding can leave a GPU briefly idle.
+
+Monitor `parallel/status.json`, `parallel/gpu0/current.json`,
+`parallel/gpu1/current.json`, and the per-GPU worker logs. Each completed job
+records elapsed time in `parallel/results/`. The coordinator can be launched
+with `make start` when no coordinator/workers are running. Use `make status`
+and `make estimate` for progress and an updated timing estimate.
+
+## Splitting and normalization
+
+Validation original recording IDs are **7, 14, 21, 28, 35**; the remaining 38
+IDs are training sources. All attempts and future augmentations of a recording
+inherit that assignment. Failed sources are reported, never silently replaced
+by a source from the other split.
+
+Training and validation are separate local repositories:
+`local/ur5e_obstacles_15hz_train` and `local/ur5e_obstacles_15hz_validation`.
+This prevents openpi's default all-episode LeRobot loader from accidentally
+training on held-out recordings. Set `HF_LEROBOT_HOME` to the export root.
+
+Stored actions remain absolute. The adapter converts the six arm channels in
+each 50-step (3.333-second) action chunk to deltas relative to the **first measured
+state in that chunk**. The gripper remains absolute. At episode ends, actions
+repeat the final command according to LeRobot's padding convention; chunks
+never cross episode boundaries. Openpi's action padding mask is available from
+LeRobot; the standard training transform uses endpoint repetition.
+
+`assets/ur5e/norm_stats.json` is calculated only from accepted training sources,
+after that same action conversion, including chunk endpoint padding. It stores
+mean, standard deviation, and exact 1st/99th percentiles. Pi0.5 uses quantile
+normalization; validation reuses training statistics. The loader smoke test
+checks the normalization/delta inverse against stored commands.
+
+## Acceptance and provenance
+
+For newly sampled removal tasks, the obstruction occupies the original destination measured from the real
+final image. The controller must physically pick it, move it to a clear table
+location, release it, then grasp and place the original target. During physical
+execution objects stay dynamic, with no attachment, teleportation, or
+object-pose playback. Adding a missing camera later uses the saved physical
+trajectory as described above, while retaining its original validation.
+Planner revision 2 centers the obstruction between nearby rack pegs while
+checking that it still overlaps the observed destination. It can shift the
+target's planned placement by at most 13 mm toward that gap; acceptance always
+compares against the unchanged observed destination with the original 15 mm
+tolerance. This avoids spawning a blocking cup tipped over a peg.
+Surrounding props use existing textured meshes with explicit mass, friction,
+scale, and source metadata. Layout seeds and rejected attempts are retained.
+
+Acceptance requires target grasp/lift, correct rack placement within 15 mm in
+horizontal position and height, sustained rack support and release, and
+terminal speed below 0.02 m/s. The obstruction must have a two-finger grasp,
+rise over 70 mm, finish within 40 mm of its clearing point, be released, and
+settle. Unplanned robot-object/table/rack contacts and obstruction-clutter
+contacts above 0.05 N are rejected. Surrounding bodies must move less than
+10 mm. Contact evidence is sampled at the 300 Hz physics rate. These checks
+cover reported PhysX actor contacts; they are not a hardware safety proof.
+The inherited robot articulation disables self-collision. These checks therefore
+cover robot contact with objects, rack, and table, plus unintended prop contacts;
+they do not certify clearance between the robot's own links.
+
+`training_validation.json` adds numeric finiteness, joint ordering, initial
+robot state, action timing, gripper convention, camera synchronization, and
+image-count checks. Raw HDF5, full contact traces, summaries, source identities,
+instructions, specs, and failure files remain alongside each generation.
+The original tar archive is read-only throughout; its SHA-256 is retained.
+
+Reconstruction uses calibrated RGB silhouettes and wrist-depth table fits.
+Overlay reviews and fit quality are retained per original recording. Mass,
+friction, gripper response, and rigid plastic geometry remain simulator priors;
+the photographic table/background projections do not constitute a full room
+reconstruction. This dataset is simulation training data, not validated
+real-robot transfer data.
+
+## Running and checking
+
+The current batch script refuses to scale until `pilot_export/openpi_loader_validation.json`
+records successful three-camera end-to-end pilots covering new removal,
+historical removal, and historical detour. Run simulator commands under
+the shared `/tmp/real2sim_isaac.lock` when using the old serial runner. The
+parallel coordinator instead uses `/tmp/real2sim_isaac_gpu0.lock` and
+`/tmp/real2sim_isaac_gpu1.lock`; never run the serial and parallel runners together.
+
+```bash
+make doctor
+make start
+make status
+make estimate
+```
+
+Use the pinned openpi and LeRobot source directories on `PYTHONPATH` for export
+and `analysis.pi05_openpi`. The isolated data-validation environment is under
+the run's `deps/venv`; its exact package versions are recorded with the run.
+`openpi_loader_validation.json` establishes actual video decoding, action
+chunking, tokenizer/preprocessing, normalization inversion, and minibatch
+construction. It does not claim that an optimizer step or policy fine-tuning
+has been performed. No automatic upload is part of this workflow.
+
+The local TorchCodec runtime additionally uses the Ubuntu FFmpeg 4 shared
+libraries extracted into `deps/ffmpeg4/usr/lib/x86_64-linux-gnu`. Include that
+directory in `LD_LIBRARY_PATH`; no system packages were changed. The durable
+orchestrator supplies this and the pinned source imports automatically:
+
+```bash
+make run
+```
+
+Generation stages resume using their per-source/per-variation status files.
+Each accepted render writes three viewing MP4s under its `videos/` directory
+alongside raw synchronized HDF5 and PNGs. These viewing files precede the final
+LeRobot export; training readiness requires the export and loader checks.
+The final exporter preserves original recording and variation IDs. Failed
+attempts are not counted as successful variations or silently filled by duplicates.
+Export requires a
+new output directory; preserve an interrupted export before restarting that stage.
+
+## Reusing the historical obstacle videos
+
+`analysis.pi05_legacy_audit` audits the canonical 50 obstacle entries in the old
+video inventory, verifies their video checksums, and extracts logged joints to
+`legacy_obstacle_reuse/episodeXXXX/obstacle_YY/logged_joints.hdf5`. These files
+preserve 50 Hz measured arm states, commanded targets, calibrated gripper state,
+camera exposure times, and the old MP4 resampling map. Their seven-channel order
+matches this contract, but they are explicitly **not training-ready episodes**.
+Old camera captures were typically 72 ms apart; some have no joint measurement
+within 8 ms. Old videos repeat captures on a 15 fps presentation grid and can
+display an image up to 72 ms old. They also lack the wrist stream. No interpolated
+state is relabeled as an exact measured observation.
+
+The audit found 46 eligible scene/trajectory candidates: 29 clearing and 17
+detour variants. Four old runs fail the stricter screen (two move the rack more
+than 10 mm and two have unintended robot contacts). The old artifacts are
+preserved. Reuse means new physical execution and synchronous 15 Hz capture
+from the saved scenes/plans, with fresh acceptance checks on every rollout.
+
+The former `analysis.pi05_legacy_reuse` supplemental queue is cancelled. The
+current settings-driven coordinator includes **all 50** source scenes,
+adds surrounding clutter while retaining their obstacle/task, and retries fresh
+physical execution. Its pilot covers clearing and detour tasks through all
+three cameras, export, and openpi loading before scaling. It records failures
+rather than treating old acceptance as proof of new success. Detours retain avoidance instructions and
+the `legacy_detour` profile; old source/route-clearing demonstrations use
+`legacy_clearance`. Neither supplemental profile claims that the original
+destination was occupied, and neither relaxes the main `required_clearance`
+profile. Both retain the new timing, grasp/release, settling, destination, and
+unintended-contact requirements as applicable to the labeled task.
+
+The unified export uses `local/ur5e_obstacles_15hz_{train,validation}` and computes
+normalization using only its training rows. Original IDs 0, 10, 16, 27, 36 are all training
+sources under the fixed split; their augmentations never enter validation.
+The adapter reads the dataset name from `export_report.json`. Monitor
+the current run's per-variant `physics_status.json`, `render_status.json`,
+`failed_generations.json`, and `manifest.json` for actual results; preparation is not acceptance.

dataset/TASK.json

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+{
+  "dataset": "sim_ep_03",
+  "profile": "clutter_expert",
+  "source_episodes": 43,
+  "variations_per_source": 1,
+  "original_targets_and_objects_preserved": true,
+  "policy": "privileged-state feedback pick/place expert with rack-clearance release",
+  "task_difference_from_upstream_example": "No required obstruction-removal or historical detour tasks",
+  "contract": "Seven-channel measured state and absolute held action; 15 Hz; 300 Hz physics; horizon 50",
+  "settings": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/settings.json"
+}

dataset/assets/ur5e/norm_stats.json

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+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        1.7195748413446492,
+        -2.021303017325976,
+        -1.738556521719078,
+        -0.8167496040131554,
+        1.6603700289244245,
+        0.11431139119626628,
+        0.7263220340910376
+      ],
+      "std": [
+        0.18266723765654017,
+        0.19830128664589952,
+        0.2848192225426283,
+        0.23500748207359565,
+        0.09165512464139576,
+        0.18032443800153153,
+        0.1652083789794264
+      ],
+      "q01": [
+        1.327194814682007,
+        -2.4287446784973143,
+        -2.2843770027160644,
+        -1.314374327659607,
+        1.4089860916137695,
+        -0.31815444409847254,
+        0.5415775253226107
+      ],
+      "q99": [
+        2.1346484518051145,
+        -1.5991863107681281,
+        -1.190434696674348,
+        -0.2510567444562919,
+        1.8801948499679562,
+        0.47830653190612793,
+        0.8818914763788778
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.009846607044940035,
+        0.00298027725510954,
+        0.014215943566942503,
+        -0.01656440593685318,
+        -0.002100696684815302,
+        0.009774642406424063,
+        0.6858392179294395
+      ],
+      "std": [
+        0.0829510523787233,
+        0.15904216500173715,
+        0.1559028605507451,
+        0.19004014703040478,
+        0.014075954782454344,
+        0.08259480319144744,
+        0.21483245166925755
+      ],
+      "q01": [
+        -0.25054658365467036,
+        -0.422638082041974,
+        -0.502542321713705,
+        -0.46137526768642423,
+        -0.0609257453372723,
+        -0.2501715703526272,
+        0.4509803921568627
+      ],
+      "q99": [
+        0.31336861954593564,
+        0.3874382400992892,
+        0.5111559575964694,
+        0.41476648664493093,
+        0.03917370484707224,
+        0.313871879450789,
+        0.8823529411764706
+      ]
+    }
+  }
+}

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