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1 Parent(s): 2b2eb22

Add trajectory_refine selection: 107 S1 episodes

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New target prefix only; reuse previous-filter92 and append strict optimized trajectories. No source-prefix edits or deletions.

Files changed (40) hide show
  1. 150case_data_enhance_blender_v2_trajectory_refine/README.md +2 -2
  2. 150case_data_enhance_blender_v2_trajectory_refine/checksums.json +137 -13
  3. 150case_data_enhance_blender_v2_trajectory_refine/data/chunk-000/episode_000106.parquet +3 -0
  4. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actions_30fps.npz +3 -0
  5. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/native_replay_loads.npz +3 -0
  6. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/receipt.json +91 -0
  7. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/replay/immutable_hard_trace.npz +3 -0
  8. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/replay/report.json +4966 -0
  9. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/replay/rollout.npz +3 -0
  10. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/immutable_hard_trace.npz +3 -0
  11. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/report.json +4966 -0
  12. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/rollout.npz +3 -0
  13. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/scene.xml +0 -0
  14. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/strict_v1_task_evaluation.json +138 -0
  15. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/task_contract.json +101 -0
  16. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/issued_robot_commands.npz +3 -0
  17. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/physical_augmentation.json +406 -0
  18. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/receipt.json +0 -0
  19. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/immutable_hard_trace.npz +3 -0
  20. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/report.json +4966 -0
  21. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/rollout.npz +3 -0
  22. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/scene.xml +0 -0
  23. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/strict_v1_task_evaluation.json +138 -0
  24. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/task_contract.json +101 -0
  25. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/s1_command_initialization.json +111 -0
  26. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/quality_receipt.json +1302 -0
  27. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verification.json +478 -0
  28. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verifiers/36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c.py +80 -0
  29. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verifiers/89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a.py +263 -0
  30. 150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verifiers/c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943.py +178 -0
  31. 150case_data_enhance_blender_v2_trajectory_refine/manifest.json +4 -4
  32. 150case_data_enhance_blender_v2_trajectory_refine/meta/episodes.jsonl +1 -0
  33. 150case_data_enhance_blender_v2_trajectory_refine/meta/episodes_stats.jsonl +1 -0
  34. 150case_data_enhance_blender_v2_trajectory_refine/meta/info.json +5 -5
  35. 150case_data_enhance_blender_v2_trajectory_refine/meta/source_case_groups.json +2 -1
  36. 150case_data_enhance_blender_v2_trajectory_refine/meta/source_cases.jsonl +1 -0
  37. 150case_data_enhance_blender_v2_trajectory_refine/meta/stats.json +167 -167
  38. 150case_data_enhance_blender_v2_trajectory_refine/videos/chunk-000/observation.images.cam_high/episode_000106.mp4 +3 -0
  39. 150case_data_enhance_blender_v2_trajectory_refine/videos/chunk-000/observation.images.cam_left_wrist/episode_000106.mp4 +3 -0
  40. 150case_data_enhance_blender_v2_trajectory_refine/videos/chunk-000/observation.images.cam_right_wrist/episode_000106.mp4 +3 -0
150case_data_enhance_blender_v2_trajectory_refine/README.md CHANGED
@@ -1,10 +1,10 @@
1
  # S1 cup stacking — previous filter and trajectory refinement (LeRobot v2.1)
2
 
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- **106 episodes, 144375 frames, 318 videos**.
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  Target: `starry0929/rssr/150case_data_enhance_blender_v2_trajectory_refine`. Source `150case_data_enhance_blender_v2` is preserved.
5
 
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  This selected dataset contains **92 original-clean trajectories from the previous filter**
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- and **14 newly refined trajectories** (19 in the frozen refined batch).
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  Each physical group + source case appears once. The former150 attempts /139 accepted source
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  campaign are provenance counts, not the number of episodes in this selected dataset.
10
 
 
1
  # S1 cup stacking — previous filter and trajectory refinement (LeRobot v2.1)
2
 
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+ **107 episodes, 145840 frames, 321 videos**.
4
  Target: `starry0929/rssr/150case_data_enhance_blender_v2_trajectory_refine`. Source `150case_data_enhance_blender_v2` is preserved.
5
 
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  This selected dataset contains **92 original-clean trajectories from the previous filter**
7
+ and **15 newly refined trajectories** (19 in the frozen refined batch).
8
  Each physical group + source case appears once. The former150 attempts /139 accepted source
9
  campaign are provenance counts, not the number of episodes in this selected dataset.
10
 
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+ "first_release_allowed_by_original_native_guard": true,
1161
+ "final_expected_support_and_original_stability": true
1162
+ },
1163
+ "passed": true,
1164
+ "meaningful_close_s": [
1165
+ 5.15999999999986
1166
+ ],
1167
+ "actual_reopen_s": [
1168
+ 19.859999999999065
1169
+ ],
1170
+ "unplanned_actual_reopen_s": [],
1171
+ "post_release_acquisition_samples": 0,
1172
+ "release": {
1173
+ "present": true,
1174
+ "original_guard_allowed": true,
1175
+ "time_s": 19.82,
1176
+ "packet_time_s": 19.82,
1177
+ "packet_time_error_s": 0.0,
1178
+ "original_guard_reasons": [],
1179
+ "guard_input_precision": "Unrounded native history action boundary; no epsilon or physical threshold change",
1180
+ "native_history_row_index": 43,
1181
+ "native_history_row_sha256": "910951b5f6e52e89830fcfa7cfaff0db6da4abcbbe743888ba3444c9302504f2",
1182
+ "native_history_exact_time_s": 19.81999999999916,
1183
+ "native_boundary_valid": true,
1184
+ "rounded_packet_guard_allowed": true,
1185
+ "rounded_packet_guard_reasons": [],
1186
+ "support_at_release": [],
1187
+ "expected_support": "worktable",
1188
+ "first_post_release_support_s": 19.86999999999904,
1189
+ "final_support_continuous": true,
1190
+ "original_stability_window_s": 1.0,
1191
+ "final_window_motion_m": 8.36304625165255e-12,
1192
+ "original_maximum_motion_m": 0.003,
1193
+ "supported_and_stable_at_end": true
1194
+ }
1195
+ },
1196
+ {
1197
+ "hand": "right",
1198
+ "object": "cup_right_upper",
1199
+ "checks": {
1200
+ "one_meaningful_close_in_full_episode": true,
1201
+ "no_unplanned_physical_reopens_in_any_event": true,
1202
+ "no_acquisition_after_first_release": true,
1203
+ "first_release_allowed_by_original_native_guard": true,
1204
+ "final_expected_support_and_original_stability": true
1205
+ },
1206
+ "passed": true,
1207
+ "meaningful_close_s": [
1208
+ 27.209999999981935
1209
+ ],
1210
+ "actual_reopen_s": [
1211
+ 46.34000000003924
1212
+ ],
1213
+ "unplanned_actual_reopen_s": [],
1214
+ "post_release_acquisition_samples": 0,
1215
+ "release": {
1216
+ "present": true,
1217
+ "original_guard_allowed": true,
1218
+ "time_s": 46.3,
1219
+ "packet_time_s": 46.3,
1220
+ "packet_time_error_s": 0.0,
1221
+ "original_guard_reasons": [],
1222
+ "guard_input_precision": "Unrounded native history action boundary; no epsilon or physical threshold change",
1223
+ "native_history_row_index": 98,
1224
+ "native_history_row_sha256": "933f350cb3cde1f9780221983840ccfbffb8e7a7979d595d5bdb7fef6664cc90",
1225
+ "native_history_exact_time_s": 46.30000000003905,
1226
+ "native_boundary_valid": true,
1227
+ "rounded_packet_guard_allowed": true,
1228
+ "rounded_packet_guard_reasons": [],
1229
+ "support_at_release": [],
1230
+ "expected_support": "cup_left_base",
1231
+ "first_post_release_support_s": 46.42000000003962,
1232
+ "final_support_continuous": true,
1233
+ "original_stability_window_s": 1.0,
1234
+ "final_window_motion_m": 3.3621760591264506e-05,
1235
+ "original_maximum_motion_m": 0.003,
1236
+ "supported_and_stable_at_end": true
1237
+ }
1238
+ }
1239
+ ],
1240
+ "passed": true
1241
+ },
1242
+ "first_loaded_acquisition_retention": {
1243
+ "schema": "rssr.first_loaded_acquisition_retention.v1",
1244
+ "scope": "first 100ms loaded bilateral acquisition until first legal release, including before the 25mm lift threshold",
1245
+ "maximum_contact_gap_s": 0.1,
1246
+ "maximum_object_motion_in_gripper_m": 0.015,
1247
+ "hands": [
1248
+ {
1249
+ "hand": "left",
1250
+ "object": "cup_left_base",
1251
+ "first_stable_loaded_acquisition_s": 5.789999999999511,
1252
+ "contact_loss_after_first_loaded_acquisition": [],
1253
+ "max_object_motion_from_first_loaded_acquisition_m": 0.0006384183866194357,
1254
+ "passed": true
1255
+ },
1256
+ {
1257
+ "hand": "right",
1258
+ "object": "cup_right_upper",
1259
+ "first_stable_loaded_acquisition_s": 27.839999999980467,
1260
+ "contact_loss_after_first_loaded_acquisition": [],
1261
+ "max_object_motion_from_first_loaded_acquisition_m": 0.001153877672676746,
1262
+ "passed": true
1263
+ }
1264
+ ],
1265
+ "passed": true
1266
+ },
1267
+ "force_evidence_binding": {
1268
+ "native_source_path": true,
1269
+ "native_command_sha256": true,
1270
+ "actual_load_clock_equals_native": true,
1271
+ "actual_load_object_positions_equal_native": true,
1272
+ "actual_load_shape_and_finite": true
1273
+ },
1274
+ "audit_criteria": {
1275
+ "sampling": "All saved native rollout states, nominal 100 Hz; no interpolation of contact.",
1276
+ "force_reconstruction": "MuJoCo mj_forward at saved qpos/qvel/ctrl. Solver warmstart is unavailable; forces are diagnostic reconstructions, not exact replay evidence.",
1277
+ "distal_mapping": "Exact same physical distal bodies as native session._observation; do not trust legacy rollout name-only finger_contact_sides.",
1278
+ "loaded_pad_minimum_n": 0.0001,
1279
+ "bilateral_acquisition_duration_s": 0.1,
1280
+ "lift_above_initial_m": 0.025,
1281
+ "lift_hold_duration_s": 0.5,
1282
+ "maximum_contact_gap_s": 0.1,
1283
+ "command_reopen_delta_rad": 0.12,
1284
+ "actual_reopen_delta_m": 0.008,
1285
+ "command_reclose_delta_rad": 0.06,
1286
+ "slip_drop_m": 0.015,
1287
+ "relative_object_motion_review_m": 0.015,
1288
+ "first_intent": "First target/hand contact or grasp action, excluding initial SDK settle and prior approach touches.",
1289
+ "cycle": "Persistent contact/grasp/hold actions remain one closure. A new cycle requires explicit target-hand open intent (approach/retreat/release), commanded reopening >=0.12rad accompanied by >=8mm physical jaw opening, followed by a new commanded close >=0.06rad.",
1290
+ "first_success": "First intentional close obtains >=0.1s loaded bilateral distal contact, reaches 25mm lift in same close, and holds lifted/contacted for >=0.5s; no reopening/reapproach before proof.",
1291
+ "retention": "Separately report >0.1s loaded-contact losses or relative object motion before first intentional release; this does not replace the unchanged task acceptance judge."
1292
+ },
1293
+ "audit_script_sha256": "89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a",
1294
+ "verifier_script_sha256": "36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c",
1295
+ "release_integrity_script_sha256": "c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943",
1296
+ "native_receipt_sha256": "ff550b8a6b246ca51f3fc0078eaf169b80169f5ab9031aca9879fc6e5102b74c",
1297
+ "native_rollout_sha256": "025b34596179a6ab19c0d9ce8771fc4376e90db91bde86efc5d4d82985cbd91e",
1298
+ "native_issued_commands_sha256": "eb7530016e0316002d9bd931ab539d8cfa0d9de561edf51fe1e9ab3963735d73",
1299
+ "actual_load_receipt_sha256": "b20a2e8a903c53ed1413b283dd5a6d9d8a13a95d3ffebf84a1e38048c32686d5",
1300
+ "actual_load_data_sha256": "d7a7a55feabacfe57994bcd8b684a67d5aafa7161befdec07c79cdabed05e3cd",
1301
+ "never_published": true
1302
+ }
150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verification.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "rssr.strict_first_grasp.publication_proof.v1",
3
+ "source_id": "physical_01__stack_cups_ep000021",
4
+ "source_case_id": "stack_cups_ep000021",
5
+ "physical_index": 1,
6
+ "origin": "refined",
7
+ "episode_index": 106,
8
+ "admission_snapshot": "evidence/admission_snapshots/6f682148134faeb66c0fbbabfa710b0950a30f5e3f3d84173ceeb451084f5346.json",
9
+ "admission_snapshot_sha256": "6f682148134faeb66c0fbbabfa710b0950a30f5e3f3d84173ceeb451084f5346",
10
+ "source_mapping": {
11
+ "original_native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000021/attempt_00",
12
+ "selected_native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_first_grasp_v1_20261017/runs/cold_start/protocol_aligned_g01/cases/stack_cups_ep000021/attempt_00"
13
+ },
14
+ "strict_checks": {
15
+ "actual_solver_loads_from_exact_replay": true,
16
+ "original_native_full_task_accepted": true,
17
+ "native_task_goal": true,
18
+ "original_all_hard_passed": true,
19
+ "independent_replay_exact": true,
20
+ "independent_every_step_hard_trace_exact": true,
21
+ "both_first_close_success": true,
22
+ "exactly_one_close_each": true,
23
+ "no_reopens": true,
24
+ "no_recovery_before_lift": true,
25
+ "no_slip": true,
26
+ "no_object_motion_in_gripper_over_15mm": true,
27
+ "no_contact_loss_over_100ms_before_release": true,
28
+ "whole_episode_physical_cycle_and_legal_release_integrity": true,
29
+ "first_loaded_grasp_retained_before_and_after_25mm_lift": true,
30
+ "original_exact_scene_sha256": true,
31
+ "original_exact_initial_joint_values": true,
32
+ "original_exact_initial_native_state": true,
33
+ "original_exact_native_task_contract": true,
34
+ "persisted_independent_replay_arrays_exact": true,
35
+ "persisted_actual_load_replay_arrays_exact": true
36
+ },
37
+ "verification_criteria": {
38
+ "force_source": "fresh native exact replay actual solver state",
39
+ "initial_diagnostic_criteria_note": "quality_receipt.audit_criteria describes historical diagnostic before-analysis; actual force proof is actual_force/receipt.json",
40
+ "closure_scope": "full episode, including post-release acquisition and physical reopening",
41
+ "release_scope": "unchanged original native release guard and final task stability"
42
+ },
43
+ "two_independent_replays_exact": true,
44
+ "native_full_task_passed": true,
45
+ "original_action_state_samples_exact": true,
46
+ "terminal_state_included": true,
47
+ "camera_clocks_fully_decoded": true,
48
+ "hardware_sdk_ready": false,
49
+ "action_columns": [
50
+ {
51
+ "index": 0,
52
+ "name": "astribot_torso_joint_1",
53
+ "unit": "rad",
54
+ "semantics": "desired_joint_position",
55
+ "target_joint_or_interface": "astribot_torso_joint_1",
56
+ "actuator_name": "astribot_torso_joint_1",
57
+ "actuator_transmission": "joint"
58
+ },
59
+ {
60
+ "index": 1,
61
+ "name": "astribot_torso_joint_2",
62
+ "unit": "rad",
63
+ "semantics": "desired_joint_position",
64
+ "target_joint_or_interface": "astribot_torso_joint_2",
65
+ "actuator_name": "astribot_torso_joint_2",
66
+ "actuator_transmission": "joint"
67
+ },
68
+ {
69
+ "index": 2,
70
+ "name": "astribot_head_joint_1",
71
+ "unit": "rad",
72
+ "semantics": "desired_joint_position",
73
+ "target_joint_or_interface": "astribot_head_joint_1",
74
+ "actuator_name": "astribot_head_joint_1",
75
+ "actuator_transmission": "joint"
76
+ },
77
+ {
78
+ "index": 3,
79
+ "name": "astribot_head_joint_2",
80
+ "unit": "rad",
81
+ "semantics": "desired_joint_position",
82
+ "target_joint_or_interface": "astribot_head_joint_2",
83
+ "actuator_name": "astribot_head_joint_2",
84
+ "actuator_transmission": "joint"
85
+ },
86
+ {
87
+ "index": 4,
88
+ "name": "astribot_torso_joint_3",
89
+ "unit": "rad",
90
+ "semantics": "desired_joint_position",
91
+ "target_joint_or_interface": "astribot_torso_joint_3",
92
+ "actuator_name": "astribot_torso_joint_3",
93
+ "actuator_transmission": "joint"
94
+ },
95
+ {
96
+ "index": 5,
97
+ "name": "astribot_torso_joint_4",
98
+ "unit": "rad",
99
+ "semantics": "desired_joint_position",
100
+ "target_joint_or_interface": "astribot_torso_joint_4",
101
+ "actuator_name": "astribot_torso_joint_4",
102
+ "actuator_transmission": "joint"
103
+ },
104
+ {
105
+ "index": 6,
106
+ "name": "astribot_arm_left_joint_1",
107
+ "unit": "rad",
108
+ "semantics": "desired_joint_position",
109
+ "target_joint_or_interface": "astribot_arm_left_joint_1",
110
+ "actuator_name": "astribot_arm_left_joint_1",
111
+ "actuator_transmission": "joint"
112
+ },
113
+ {
114
+ "index": 7,
115
+ "name": "astribot_arm_left_joint_2",
116
+ "unit": "rad",
117
+ "semantics": "desired_joint_position",
118
+ "target_joint_or_interface": "astribot_arm_left_joint_2",
119
+ "actuator_name": "astribot_arm_left_joint_2",
120
+ "actuator_transmission": "joint"
121
+ },
122
+ {
123
+ "index": 8,
124
+ "name": "astribot_arm_left_joint_3",
125
+ "unit": "rad",
126
+ "semantics": "desired_joint_position",
127
+ "target_joint_or_interface": "astribot_arm_left_joint_3",
128
+ "actuator_name": "astribot_arm_left_joint_3",
129
+ "actuator_transmission": "joint"
130
+ },
131
+ {
132
+ "index": 9,
133
+ "name": "astribot_arm_left_joint_4",
134
+ "unit": "rad",
135
+ "semantics": "desired_joint_position",
136
+ "target_joint_or_interface": "astribot_arm_left_joint_4",
137
+ "actuator_name": "astribot_arm_left_joint_4",
138
+ "actuator_transmission": "joint"
139
+ },
140
+ {
141
+ "index": 10,
142
+ "name": "astribot_arm_left_joint_5",
143
+ "unit": "rad",
144
+ "semantics": "desired_joint_position",
145
+ "target_joint_or_interface": "astribot_arm_left_joint_5",
146
+ "actuator_name": "astribot_arm_left_joint_5",
147
+ "actuator_transmission": "joint"
148
+ },
149
+ {
150
+ "index": 11,
151
+ "name": "astribot_arm_left_joint_6",
152
+ "unit": "rad",
153
+ "semantics": "desired_joint_position",
154
+ "target_joint_or_interface": "astribot_arm_left_joint_6",
155
+ "actuator_name": "astribot_arm_left_joint_6",
156
+ "actuator_transmission": "joint"
157
+ },
158
+ {
159
+ "index": 12,
160
+ "name": "astribot_arm_left_joint_7",
161
+ "unit": "rad",
162
+ "semantics": "desired_joint_position",
163
+ "target_joint_or_interface": "astribot_arm_left_joint_7",
164
+ "actuator_name": "astribot_arm_left_joint_7",
165
+ "actuator_transmission": "joint"
166
+ },
167
+ {
168
+ "index": 13,
169
+ "name": "astribot_gripper_left_joint_L1",
170
+ "unit": "rad",
171
+ "semantics": "desired_joint_position",
172
+ "target_joint_or_interface": "astribot_gripper_left_joint_L1",
173
+ "actuator_name": "astribot_gripper_left_joint_L1",
174
+ "actuator_transmission": "fixed_tendon",
175
+ "tendon_name": "gripper_left_split",
176
+ "coupled_target_joints": [
177
+ "astribot_gripper_left_joint_R1",
178
+ "astribot_gripper_left_joint_L1"
179
+ ],
180
+ "fixed_tendon_coefficients": [
181
+ 0.5,
182
+ 0.5
183
+ ],
184
+ "all_issued_finger_targets_equal": true
185
+ },
186
+ {
187
+ "index": 14,
188
+ "name": "astribot_arm_right_joint_1",
189
+ "unit": "rad",
190
+ "semantics": "desired_joint_position",
191
+ "target_joint_or_interface": "astribot_arm_right_joint_1",
192
+ "actuator_name": "astribot_arm_right_joint_1",
193
+ "actuator_transmission": "joint"
194
+ },
195
+ {
196
+ "index": 15,
197
+ "name": "astribot_arm_right_joint_2",
198
+ "unit": "rad",
199
+ "semantics": "desired_joint_position",
200
+ "target_joint_or_interface": "astribot_arm_right_joint_2",
201
+ "actuator_name": "astribot_arm_right_joint_2",
202
+ "actuator_transmission": "joint"
203
+ },
204
+ {
205
+ "index": 16,
206
+ "name": "astribot_arm_right_joint_3",
207
+ "unit": "rad",
208
+ "semantics": "desired_joint_position",
209
+ "target_joint_or_interface": "astribot_arm_right_joint_3",
210
+ "actuator_name": "astribot_arm_right_joint_3",
211
+ "actuator_transmission": "joint"
212
+ },
213
+ {
214
+ "index": 17,
215
+ "name": "astribot_arm_right_joint_4",
216
+ "unit": "rad",
217
+ "semantics": "desired_joint_position",
218
+ "target_joint_or_interface": "astribot_arm_right_joint_4",
219
+ "actuator_name": "astribot_arm_right_joint_4",
220
+ "actuator_transmission": "joint"
221
+ },
222
+ {
223
+ "index": 18,
224
+ "name": "astribot_arm_right_joint_5",
225
+ "unit": "rad",
226
+ "semantics": "desired_joint_position",
227
+ "target_joint_or_interface": "astribot_arm_right_joint_5",
228
+ "actuator_name": "astribot_arm_right_joint_5",
229
+ "actuator_transmission": "joint"
230
+ },
231
+ {
232
+ "index": 19,
233
+ "name": "astribot_arm_right_joint_6",
234
+ "unit": "rad",
235
+ "semantics": "desired_joint_position",
236
+ "target_joint_or_interface": "astribot_arm_right_joint_6",
237
+ "actuator_name": "astribot_arm_right_joint_6",
238
+ "actuator_transmission": "joint"
239
+ },
240
+ {
241
+ "index": 20,
242
+ "name": "astribot_arm_right_joint_7",
243
+ "unit": "rad",
244
+ "semantics": "desired_joint_position",
245
+ "target_joint_or_interface": "astribot_arm_right_joint_7",
246
+ "actuator_name": "astribot_arm_right_joint_7",
247
+ "actuator_transmission": "joint"
248
+ },
249
+ {
250
+ "index": 21,
251
+ "name": "astribot_gripper_right_joint_L1",
252
+ "unit": "rad",
253
+ "semantics": "desired_joint_position",
254
+ "target_joint_or_interface": "astribot_gripper_right_joint_L1",
255
+ "actuator_name": "astribot_gripper_right_joint_L1",
256
+ "actuator_transmission": "fixed_tendon",
257
+ "tendon_name": "gripper_right_split",
258
+ "coupled_target_joints": [
259
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+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/resources.py": "dd15deab337f38835bf225293a04bc7d453cca028b3c8132009c92ac3744312f",
438
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/dispatcher.py": "f6b165698e6f410687c96ddbe0235ba250c31bf7f1de8c5e2b39d51994cbcc23",
439
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/transport.py": "16b3180afe0607c8903ae83e2172512188b50d2a53f0d7e9c0d5e62065cbf058",
440
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/cup_library.py": "5ca7a887ce214eec690580bc82edeb7553e1b38c548bc3996694fc81156c056e",
441
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/make_scene.py": "a8c4939aa6a30775e33d34ed565c3cb4835ff8c34e3b453c587ed4d1a7ff7eb6",
442
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/source_arrays.py": "fad9b79aa5ec8a121667ea14240fb48cf30e254b9072328af0defe3501284c59",
443
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/asset_library.py": "725dcddca5a14a6645fefa169325257d2ec09d634b24cfc38a59f7ee88c5939d",
444
+ "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_trajectory_refine_v2/native_admission.py": "68ee87518277b9d96abf4cc629273e4192f10726cebdd593c908c788840360a1"
445
+ },
446
+ "portable_files": {
447
+ "data/chunk-000/episode_000106.parquet": "1fbeaf06de241f96c31b12c8490a2303a8e0c34f6e6542fc24a040af07d2bfcf",
448
+ "videos/chunk-000/observation.images.cam_high/episode_000106.mp4": "b3a0584369f218b35dd80ac904661ec15ea633f5b18e41ac374afb2459684f1e",
449
+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000106.mp4": "b97214067398522e78b10e6215ee217f9bcba9d7f9e45c60bb69e0a86d041d81",
450
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000106.mp4": "d627142e5370d931cbc7eb500ef196dc68179a97a0cc4d14ad544b0b045ae2c6",
451
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/quality_receipt.json": "8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164",
452
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453
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454
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455
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456
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/s1_command_initialization.json": "2b75c0ba1c56d901ad965f15ad57723b8130c42dcb201c0eda40170f3077a03c",
457
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458
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459
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460
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461
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462
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463
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/rollout.npz": "025b34596179a6ab19c0d9ce8771fc4376e90db91bde86efc5d4d82985cbd91e",
464
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/execute/immutable_hard_trace.npz": "40a55c1cb407e3e1638d71c62886e521cf7615d70afe252197a9a44fd21c790d",
465
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466
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467
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468
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469
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/rollout.npz": "025b34596179a6ab19c0d9ce8771fc4376e90db91bde86efc5d4d82985cbd91e",
470
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471
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/report.json": "c2f7d8dd235fae70a02d2c0dafbc3d107e3624cde09d6e57b194c6be47c00c81",
472
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/native/replay/strict_v1_task_evaluation.json": "3a0557dbe3b43100c57c7cc7e1ac29f77d26ce5637f8e7fd6690280564177982",
473
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/replay/rollout.npz": "025b34596179a6ab19c0d9ce8771fc4376e90db91bde86efc5d4d82985cbd91e",
474
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/replay/immutable_hard_trace.npz": "40a55c1cb407e3e1638d71c62886e521cf7615d70afe252197a9a44fd21c790d",
475
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actual_force/replay/report.json": "191e25c512e55b774a811c7564adc764a2aa1bfabae7218af9e5f84bc22b919a",
476
+ "evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/actions_30fps.npz": "391a512037dabde6a80a54a40486fbc20ab20f8ada21886e44cba091d2911276"
477
+ }
478
+ }
150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verifiers/36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c.py ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """Additive first-grasp quality gate; original task/replay acceptance is required.
2
+ Does not edit native files, old rules, physics, HF or render dispatch.
3
+ """
4
+ from pathlib import Path
5
+ import argparse,importlib.util,json,hashlib,numpy as np
6
+ from release_cycle_integrity import evaluate as evaluate_integrity, acquisition_retention
7
+
8
+ def sha(p):return hashlib.sha256(Path(p).read_bytes()).hexdigest()
9
+
10
+ def audit(path,out):
11
+ root=Path('/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_first_grasp_v1_20261017')
12
+ source=root/'audit/audit_native_first_grasp.py'
13
+ spec=importlib.util.spec_from_file_location('first_grasp_audit',source);m=importlib.util.module_from_spec(spec);spec.loader.exec_module(m)
14
+ out=Path(out);out.mkdir(parents=True,exist_ok=True);m.OUT=out
15
+ receipt_path=Path(path);r=json.loads(receipt_path.read_text());a=receipt_path.parent
16
+ result=m.process(receipt_path)
17
+ strategy=json.loads((a.parents[2]/'strategy.json').read_text())
18
+ implementation=next(Path(f).parent.parent for f in strategy['implementation_sha256'] if f.endswith('/rssr_augment/common.py'))
19
+ saved=np.load(out/'cases'/f"{result['group']}_{result['case_id']}_diagnostics.npz");native=np.load(a/'execute/rollout.npz')
20
+ integrity=evaluate_integrity(a,native,saved,implementation)
21
+ load_dir=out/'exact_load_replay';load_receipt=load_dir/'native_replay_load_receipt.json'
22
+ actual_loads=False;binding={};retention={'passed':False,'reason':'actual_solver_loads_required'}
23
+ if load_receipt.exists():
24
+ lr=json.loads(load_receipt.read_text());measured=np.load(load_dir/'native_replay_loads.npz')
25
+ binding={
26
+ 'native_source_path':Path(lr['native_source']).resolve()==a.resolve(),
27
+ 'native_command_sha256':lr['replay']['command_sha256']==sha(a/'issued_robot_commands.npz'),
28
+ 'actual_load_clock_equals_native':np.array_equal(measured['time_s'],native['time_s']),
29
+ 'actual_load_object_positions_equal_native':np.array_equal(measured['object_position_m'],native['object_position'][:,:2]),
30
+ 'actual_load_shape_and_finite':measured['pad_force_n'].shape==(len(native['time_s']),2,2) and measured['object_in_finger_frame_m'].shape==(len(native['time_s']),2,3) and bool(np.isfinite(measured['pad_force_n']).all()) and bool((measured['pad_force_n']>=0).all()) and bool(np.isfinite(measured['object_in_finger_frame_m']).all()),
31
+ }
32
+ actual_loads=bool(lr['fresh_native_replay'] and lr['force_from_actual_solver_state'] and lr['sample_clock_exact'] and lr['replay']['exact'] and lr['replay']['every_step_hard_trace_exact'] and all(binding.values()))
33
+ if actual_loads:
34
+ retention=acquisition_retention(measured['time_s'],measured['pad_force_n'],measured['object_in_finger_frame_m'],saved)
35
+ packets=[json.loads(p.read_text())['observation'] for p in sorted((a/'decisions').glob('*/packet.json'))]
36
+ result['hands']=[m.summarize_hand(measured['time_s'],native['object_position'],measured['pad_force_n'],measured['object_in_finger_frame_m'],native['gripper_opening'],saved['desired_gripper_angle_rad'],saved['event_kind'],saved['event_object'],saved['event_hand'],hi,packets) for hi in range(2)]
37
+ result['force_evidence_source']='Fresh exact native replay solver state; no warmstart reconstruction'
38
+ result['needs_optimization']=any(h['needs_optimization'] for h in result['hands'])
39
+ checks={
40
+ 'actual_solver_loads_from_exact_replay':actual_loads,
41
+ 'original_native_full_task_accepted':r['accepted'] is True,
42
+ 'native_task_goal':r['native']['task_text_physical_success'] is True,
43
+ 'original_all_hard_passed':r['online_every_step_hard_snapshot']['all_hard_passed'] is True,
44
+ 'independent_replay_exact':bool((r.get('replay') or {}).get('exact')),
45
+ 'independent_every_step_hard_trace_exact':bool((r.get('replay') or {}).get('every_step_hard_trace_exact')),
46
+ 'both_first_close_success':all(h.get('first_close_success') for h in result['hands']),
47
+ 'exactly_one_close_each':all(h.get('intent_close_count')==1 for h in result['hands']),
48
+ 'no_reopens':all(h.get('commanded_reopen_count')==0 for h in result['hands']),
49
+ 'no_recovery_before_lift':all(not h.get('recovery_before_first_proof') for h in result['hands']),
50
+ 'no_slip':all(not h.get('slip_candidates') for h in result['hands']),
51
+ 'no_object_motion_in_gripper_over_15mm':all(not h.get('relative_motion_review') for h in result['hands']),
52
+ 'no_contact_loss_over_100ms_before_release':all(not h.get('contact_loss_before_release') for h in result['hands']),
53
+ 'whole_episode_physical_cycle_and_legal_release_integrity':integrity['passed'],
54
+ 'first_loaded_grasp_retained_before_and_after_25mm_lift':retention['passed'],
55
+ }
56
+ original=Path('/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017')
57
+ sample=strategy['physical_augmentation']['profiles'][r['case_id']];gi=sample['variant_index'];old=original/f'physical_{gi:02d}/cases'/r['case_id']/'attempt_00'
58
+ old_init=json.loads((old/'s1_command_initialization.json').read_text());new_init=json.loads((a/'s1_command_initialization.json').read_text())
59
+ checks['original_exact_scene_sha256']=sha(a/'execute/scene.xml')==sha(old/'execute/scene.xml')
60
+ checks['original_exact_initial_joint_values']=new_init['initial_joint_values_rad']==old_init['initial_joint_values_rad']
61
+ old_rollout=np.load(old/'execute/rollout.npz')
62
+ checks['original_exact_initial_native_state']=all(np.array_equal(native[k][0],old_rollout[k][0]) for k in ['qpos','qvel','object_position','object_quaternion'])
63
+ checks['original_exact_native_task_contract']=json.loads((a/'execute/task_contract.json').read_text())==json.loads((old/'execute/task_contract.json').read_text())
64
+ # Compare persisted arrays as well as the independent replay's boolean receipt.
65
+ def arrays_equal(directory,filename):
66
+ other=np.load(directory/filename);source=np.load(a/'execute'/filename)
67
+ return source.files==other.files and all(np.array_equal(source[k],other[k]) for k in source.files)
68
+ checks['persisted_independent_replay_arrays_exact']=bool((a/'replay/rollout.npz').exists() and arrays_equal(a/'replay','rollout.npz') and arrays_equal(a/'replay','immutable_hard_trace.npz'))
69
+ checks['persisted_actual_load_replay_arrays_exact']=bool(actual_loads and arrays_equal(load_dir/'replay','rollout.npz') and arrays_equal(load_dir/'replay','immutable_hard_trace.npz'))
70
+ old_audit=json.loads((root/f'audit/cases/physical_{gi:02d}_{r["case_id"]}.json').read_text())
71
+ report={'schema':'rssr.optimized_first_grasp_candidate.v2','candidate':str(a),'source':str(old),'physical_index':gi,'case_id':r['case_id'],'checks':checks,'optimization_accepted':all(checks.values()),'before':old_audit,'after':result,'whole_episode_integrity':integrity,'first_loaded_acquisition_retention':retention,'force_evidence_binding':binding,'audit_criteria':m.CRITERIA,'audit_script_sha256':sha(source),'verifier_script_sha256':sha(__file__),'release_integrity_script_sha256':sha(Path(__file__).parent/'release_cycle_integrity.py'),'native_receipt_sha256':sha(receipt_path),'native_rollout_sha256':sha(a/'execute/rollout.npz'),'native_issued_commands_sha256':sha(a/'issued_robot_commands.npz'),'actual_load_receipt_sha256':sha(load_receipt) if load_receipt.exists() else None,'actual_load_data_sha256':sha(load_dir/'native_replay_loads.npz') if (load_dir/'native_replay_loads.npz').exists() else None,'never_published':True}
72
+ dest=out/'optimization_receipt.json'
73
+ if dest.exists():
74
+ archive=out/'superseded_quality_receipts';archive.mkdir(exist_ok=True);prior=archive/(sha(dest)+'.json')
75
+ if not prior.exists():prior.write_bytes(dest.read_bytes())
76
+ tmp=dest.with_suffix('.json.tmp');tmp.write_text(json.dumps(report,indent=2)+'\n');tmp.replace(dest)
77
+ print(json.dumps({'candidate':str(a),'optimization_accepted':report['optimization_accepted'],'checks':checks},indent=2))
78
+ return report
79
+ if __name__=='__main__':
80
+ p=argparse.ArgumentParser();p.add_argument('receipt',type=Path);p.add_argument('out',type=Path);a=p.parse_args();audit(a.receipt,a.out)
150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verifiers/89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a.py ADDED
@@ -0,0 +1,263 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """Read-only first-grasp diagnostics; never execute commands or alter evidence.
2
+
3
+ The existing task judge is intentionally unchanged. This adds stricter acquisition
4
+ diagnostics, with explicit sampling limits, using saved native states and commands.
5
+ """
6
+ import concurrent.futures as cf
7
+ import collections
8
+ import csv
9
+ import hashlib
10
+ import json
11
+ import os
12
+ import sys
13
+ from pathlib import Path
14
+ import time
15
+ import numpy as np
16
+ import mujoco
17
+
18
+ SOURCE = Path('/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017')
19
+ OUT = Path(__file__).parent
20
+ HANDS = ('left', 'right')
21
+ OBJECTS = ('cup_left_base', 'cup_right_upper')
22
+ CRITERIA = {
23
+ 'sampling': 'All saved native rollout states, nominal 100 Hz; no interpolation of contact.',
24
+ 'force_reconstruction': 'MuJoCo mj_forward at saved qpos/qvel/ctrl. Solver warmstart is unavailable; forces are diagnostic reconstructions, not exact replay evidence.',
25
+ 'distal_mapping': 'Exact same physical distal bodies as native session._observation; do not trust legacy rollout name-only finger_contact_sides.',
26
+ 'loaded_pad_minimum_n': 0.0001,
27
+ 'bilateral_acquisition_duration_s': 0.1,
28
+ 'lift_above_initial_m': 0.025,
29
+ 'lift_hold_duration_s': 0.5,
30
+ 'maximum_contact_gap_s': 0.1,
31
+ 'command_reopen_delta_rad': 0.12,
32
+ 'actual_reopen_delta_m': 0.008,
33
+ 'command_reclose_delta_rad': 0.06,
34
+ 'slip_drop_m': 0.015,
35
+ 'relative_object_motion_review_m': 0.015,
36
+ 'first_intent': 'First target/hand contact or grasp action, excluding initial SDK settle and prior approach touches.',
37
+ 'cycle': 'Persistent contact/grasp/hold actions remain one closure. A new cycle requires explicit target-hand open intent (approach/retreat/release), commanded reopening >=0.12rad accompanied by >=8mm physical jaw opening, followed by a new commanded close >=0.06rad.',
38
+ 'first_success': 'First intentional close obtains >=0.1s loaded bilateral distal contact, reaches 25mm lift in same close, and holds lifted/contacted for >=0.5s; no reopening/reapproach before proof.',
39
+ 'retention': 'Separately report >0.1s loaded-contact losses or relative object motion before first intentional release; this does not replace the unchanged task acceptance judge.',
40
+ }
41
+
42
+
43
+ def digest(path):
44
+ h = hashlib.sha256()
45
+ with open(path, 'rb') as f:
46
+ for block in iter(lambda: f.read(1048576), b''):
47
+ h.update(block)
48
+ return h.hexdigest()
49
+
50
+
51
+ def runs(t, mask):
52
+ mask = np.asarray(mask, dtype=bool)
53
+ edges = np.diff(np.r_[False, mask, False].astype(np.int8))
54
+ dt = float(np.median(np.diff(t)))
55
+ return [(int(a), int(b), float(t[b-1]-t[a]+dt))
56
+ for a,b in zip(np.flatnonzero(edges == 1), np.flatnonzero(edges == -1))]
57
+
58
+
59
+ def first_run(t, mask, duration):
60
+ return next((a for a,b,d in runs(t, mask) if d >= duration-1e-6), None)
61
+
62
+
63
+ def summarize_hand(t, obj_position, pad_force, finger_local, opening, cmd_angle,
64
+ event_kind, event_obj, event_hand, hi, packets):
65
+ obj, hand = OBJECTS[hi], HANDS[hi]
66
+ intended = (event_obj == obj) & (event_hand == hand)
67
+ acquisition = intended & np.isin(event_kind, ['contact', 'grasp'])
68
+ open_intent = intended & np.isin(event_kind, ['approach', 'retreat', 'release'])
69
+ indices = np.flatnonzero(acquisition)
70
+ if not len(indices):
71
+ return {'object':obj,'hand':hand,'status':'no_intentional_acquisition','needs_optimization':True}
72
+ start = int(indices[0]); dt = float(np.median(np.diff(t)))
73
+ release_indices = np.flatnonzero(intended & (event_kind == 'release') & (np.arange(len(t)) >= start))
74
+ release = int(release_indices[0]) if len(release_indices) else len(t)
75
+ end = release
76
+ loaded = (pad_force[:, hi] > CRITERIA['loaded_pad_minimum_n']).all(axis=-1)
77
+ unilateral = (pad_force[:, hi] > CRITERIA['loaded_pad_minimum_n']).sum(axis=-1) == 1
78
+ lift = obj_position[:, hi, 2] - obj_position[0, hi, 2]
79
+ # A genuine reopening must be both commanded and physically observed.
80
+ starts=[start]; opens=[]; phase='closed'; peak=cmd_angle[start,hi]
81
+ peak_opening=opening[start,hi]; trough=peak; reopen_opening=peak_opening
82
+ for i in range(start+1,end):
83
+ angle=cmd_angle[i,hi]; aperture=opening[i,hi]
84
+ if phase=='closed':
85
+ if angle>peak:
86
+ peak=angle;peak_opening=aperture
87
+ if (open_intent[i] and peak-angle >= CRITERIA['command_reopen_delta_rad'] and
88
+ aperture-peak_opening >= CRITERIA['actual_reopen_delta_m']):
89
+ opens.append(i);phase='open';trough=angle;reopen_opening=aperture
90
+ else:
91
+ trough=min(trough,angle);reopen_opening=max(reopen_opening,aperture)
92
+ if acquisition[i] and angle-trough>=CRITERIA['command_reclose_delta_rad']:
93
+ starts.append(i);phase='closed';peak=angle;peak_opening=aperture
94
+ first_end=opens[0] if opens else end
95
+ scope=(np.arange(len(t))>=start)&(np.arange(len(t))<first_end)
96
+ acquired=first_run(t,loaded&scope,CRITERIA['bilateral_acquisition_duration_s'])
97
+ lifted=first_run(t,loaded&scope&(lift>=CRITERIA['lift_above_initial_m']),CRITERIA['lift_hold_duration_s'])
98
+ # Retreat/reapproach after closing and before stable lift is recovery even
99
+ # if a software command happened to preserve the jaw opening.
100
+ proof_end=lifted if lifted is not None else first_end
101
+ recovery=(intended & np.isin(event_kind,['retreat','approach']) &
102
+ (np.arange(len(t))>start)&(np.arange(len(t))<proof_end))
103
+ recovery_spans=[(a,b,d) for a,b,d in runs(t,recovery) if d>=.10]
104
+ first_success=lifted is not None and not recovery_spans
105
+ qualified=first_run(t,loaded&(lift>=CRITERIA['lift_above_initial_m'])&
106
+ (np.arange(len(t))>=start)&(np.arange(len(t))<end),.1)
107
+ loss_spans=[];slip_spans=[];max_relative_motion=0.
108
+ if qualified is not None:
109
+ retain=(np.arange(len(t))>=qualified)&(np.arange(len(t))<end)
110
+ loss_spans=[(a,b,d) for a,b,d in runs(t,(~loaded)&retain) if d>CRITERIA['maximum_contact_gap_s']+1e-6]
111
+ for a,b,dur in loss_spans:
112
+ before=max(qualified,a-5);after=min(end-1,b+50)
113
+ drop=float(np.max(obj_position[before:a+1,hi,2])-np.min(obj_position[a:after+1,hi,2]))
114
+ relative=float(np.max(np.linalg.norm(finger_local[a:after+1,hi]-finger_local[before,hi],axis=1)))
115
+ if drop>=CRITERIA['slip_drop_m'] and relative>=CRITERIA['relative_object_motion_review_m']:
116
+ slip_spans.append({'start_s':float(t[a]),'end_s':float(t[b-1]+dt),'drop_m':drop,'relative_motion_m':relative})
117
+ max_relative_motion=float(np.max(np.linalg.norm(finger_local[qualified:end,hi]-finger_local[qualified,hi],axis=1))) if end>qualified else 0.
118
+ # Only native observation data are read from packets; no model requests.
119
+ evidence=[]
120
+ for po in packets:
121
+ if t[start]-.02<=po['time_s']<=(t[end] if end<len(t) else t[-1]):
122
+ ff=po.get('finger_normal_force_n',{}).get(obj,{}).get(hand)
123
+ if ff is not None:
124
+ evidence.append({'time_s':po['time_s'],'finger_contact':po['finger_contact'][obj][hand],
125
+ 'finger_normal_force_n':ff,'opening_m':po['gripper_opening_m'][hand],
126
+ 'object_z_m':po['object_position_m'][obj][2],
127
+ 'support':po['support_contact'][obj]})
128
+ if first_success:status='first_close_acquire_lift_hold_pass'
129
+ elif acquired is None:
130
+ status='first_close_unilateral' if np.any(unilateral&scope) else 'first_close_empty_or_no_loaded_bilateral'
131
+ else:status='first_close_no_stable_lift_or_recovery'
132
+ return {
133
+ 'object':obj,'hand':hand,'status':status,'first_close_success':bool(first_success),
134
+ 'first_intent_s':float(t[start]),'first_reopen_s':float(t[opens[0]]) if opens else None,
135
+ 'first_release_intent_s':float(t[release]) if release<len(t) else None,
136
+ 'intent_close_count':len(starts),'intent_close_start_s':[float(t[i]) for i in starts],
137
+ 'commanded_reopen_count':len(opens),'commanded_reopen_s':[float(t[i]) for i in opens],
138
+ 'first_close_minimum_aperture_m':float(np.min(opening[start:first_end,hi])) if first_end>start else None,
139
+ 'first_close_maximum_lift_m':float(np.max(lift[start:first_end])) if first_end>start else None,
140
+ 'first_loaded_bilateral_s':float(t[acquired]) if acquired is not None else None,
141
+ 'first_25mm_lift_held_500ms_start_s':float(t[lifted]) if lifted is not None else None,
142
+ 'first_close_longest_loaded_bilateral_s':max((d for a,b,d in runs(t,loaded&scope)),default=0.),
143
+ 'recovery_before_first_proof':[{'start_s':float(t[a]),'end_s':float(t[b-1]+dt)} for a,b,d in recovery_spans],
144
+ 'contact_loss_before_release':[{'start_s':float(t[a]),'end_s':float(t[b-1]+dt),'duration_s':d} for a,b,d in loss_spans],
145
+ 'slip_candidates':slip_spans,'max_object_motion_in_gripper_frame_m':max_relative_motion,
146
+ 'relative_motion_review':max_relative_motion>CRITERIA['relative_object_motion_review_m'],
147
+ 'needs_optimization':bool(not first_success or len(starts)>1 or recovery_spans or slip_spans),
148
+ 'native_packet_force_evidence':evidence,
149
+ }
150
+
151
+
152
+ def process(receipt_path):
153
+ receipt_path=Path(receipt_path);a=receipt_path.parent;r=json.loads(receipt_path.read_text())
154
+ model=mujoco.MjModel.from_xml_path(str(a/'execute/scene.xml'));data=mujoco.MjData(model)
155
+ z=np.load(a/'execute/rollout.npz');t=z['time_s'];q=z['qpos'];v=z['qvel'];ctrl=z['ctrl'];opening=z['gripper_opening'];pos=z['object_position']
156
+ commands=np.load(a/'issued_robot_commands.npz');ct=commands['time_s'];cq=commands['qpos'];idx=np.clip(np.searchsorted(ct,t),0,len(ct)-1)
157
+ qa=[int(model.joint(f'astribot_gripper_{h}_joint_L1').qposadr[0]) for h in HANDS];cmd_angle=cq[idx][:,qa]
158
+ del cq,commands
159
+ history=r['event_history'];ends=np.asarray([e['time_s'] for e in history]);ei=np.minimum(np.searchsorted(ends,t,side='right'),len(history)-1)
160
+ event_kind=np.asarray([history[i]['event_id'].split(':')[0] for i in ei]);event_obj=np.asarray([history[i].get('selected_object_id') or '' for i in ei]);event_hand=np.asarray([history[i].get('selected_hand') or '' for i in ei])
161
+ object_bodies={model.body(obj).id:oi for oi,obj in enumerate(OBJECTS)}
162
+ distal={};tip_geoms=[];hand_bodies=[]
163
+ for hi,h in enumerate(HANDS):
164
+ tips=[model.geom(f'astribot_gripper_{h}_geom_{s}').id for s in ('L112','R112')]
165
+ tip_geoms.append(tips);hand_bodies.append(model.body(f'astribot_gripper_{h}_base').id)
166
+ for side,g in enumerate(tips):distal[int(model.geom_bodyid[g])]=(hi,side)
167
+ forces=np.zeros((len(t),2,2));finger_local=np.zeros((len(t),2,3));contact=np.zeros((len(t),2,2),bool)
168
+ for k in range(len(t)):
169
+ data.qpos[:]=q[k];data.qvel[:]=v[k];data.ctrl[:]=ctrl[k];data.time=t[k];mujoco.mj_forward(model,data)
170
+ for hi in range(2):
171
+ center=data.geom_xpos[tip_geoms[hi]].mean(axis=0)
172
+ rot=data.xmat[hand_bodies[hi]].reshape(3,3)
173
+ finger_local[k,hi]=rot.T@(pos[k,hi]-center)
174
+ for ci,c in enumerate(data.contact):
175
+ if c.dist>0:continue
176
+ for geom,other in ((int(c.geom1),int(c.geom2)),(int(c.geom2),int(c.geom1))):
177
+ oi=object_bodies.get(int(model.geom_bodyid[geom]));ds=distal.get(int(model.geom_bodyid[other]))
178
+ if oi is not None and ds is not None and oi==ds[0]:
179
+ hi,side=ds;contact[k,hi,side]=True;f=np.zeros(6);mujoco.mj_contactForce(model,data,ci,f)
180
+ forces[k,hi,side]=max(forces[k,hi,side],max(0.,float(f[0])))
181
+ packets=[]
182
+ for packet in sorted((a/'decisions').glob('*/packet.json')):
183
+ packets.append(json.loads(packet.read_text())['observation'])
184
+ diagnostics=[summarize_hand(t,pos,forces,finger_local,opening,cmd_angle,event_kind,event_obj,event_hand,hi,packets) for hi in range(2)]
185
+ legacy=np.stack([z['finger_contact_sides'][:,hi,hi,:] for hi in range(2)],axis=1).astype(bool)
186
+ result={'group':a.parents[2].name,'case_id':r['case_id'],'accepted':r['accepted'],
187
+ 'receipt_path':str(receipt_path),'receipt_sha256':digest(receipt_path),
188
+ 'scene_sha256':digest(a/'execute/scene.xml'),'hands':diagnostics,
189
+ 'needs_optimization':any(h['needs_optimization'] for h in diagnostics),
190
+ 'legacy_finger_side_samples_disagree':int(np.any(contact!=legacy,axis=(1,2)).sum()),
191
+ 'rollout_samples':len(t),'task_required_failures':r['native']['required_failures']}
192
+ stem=f"{result['group']}_{r['case_id']}"
193
+ (OUT/'cases').mkdir(exist_ok=True)
194
+ (OUT/'cases'/f'{stem}.json').write_text(json.dumps(result,indent=2)+'\n')
195
+ np.savez_compressed(OUT/'cases'/f'{stem}_diagnostics.npz',time_s=t,pad_force_n=forces,
196
+ distal_contact=contact,object_in_finger_frame_m=finger_local,
197
+ desired_gripper_angle_rad=cmd_angle,event_kind=event_kind,
198
+ event_object=event_obj,event_hand=event_hand)
199
+ return result
200
+
201
+
202
+ def summarize_saved(receipt_path):
203
+ """Refine diagnostic criteria using unchanged, previously derived FK/forces."""
204
+ receipt_path=Path(receipt_path);a=receipt_path.parent
205
+ stem=f"{a.parents[2].name}_{a.parent.name}"
206
+ report_path=OUT/'cases'/f'{stem}.json'
207
+ r=json.loads(report_path.read_text())
208
+ assert r['receipt_sha256']==digest(receipt_path)
209
+ assert r['scene_sha256']==digest(a/'execute/scene.xml')
210
+ z=np.load(OUT/'cases'/f'{stem}_diagnostics.npz')
211
+ native=np.load(a/'execute/rollout.npz')
212
+ packets=[json.loads(p.read_text())['observation']
213
+ for p in sorted((a/'decisions').glob('*/packet.json'))]
214
+ r['hands']=[summarize_hand(z['time_s'],native['object_position'],z['pad_force_n'],
215
+ z['object_in_finger_frame_m'],native['gripper_opening'],
216
+ z['desired_gripper_angle_rad'],z['event_kind'],z['event_object'],
217
+ z['event_hand'],hi,packets) for hi in range(2)]
218
+ r['needs_optimization']=any(h['needs_optimization'] for h in r['hands'])
219
+ report_path.write_text(json.dumps(r,indent=2)+'\n')
220
+ return r
221
+
222
+
223
+ def main():
224
+ receipts=sorted(SOURCE.glob('physical_??/cases/*/attempt_00/receipt.json'))
225
+ assert len(receipts)==150
226
+ (OUT/'criteria.json').write_text(json.dumps(CRITERIA,indent=2)+'\n')
227
+ results=[];errors=[];started=time.monotonic()
228
+ with cf.ProcessPoolExecutor(max_workers=6) as pool:
229
+ worker=summarize_saved if '--summarize-saved' in sys.argv else process
230
+ jobs={pool.submit(worker,str(p)):p for p in receipts}
231
+ for future in cf.as_completed(jobs):
232
+ try:results.append(future.result())
233
+ except Exception as exc:errors.append({'receipt':str(jobs[future]),'error':repr(exc)})
234
+ if (len(results)+len(errors))%10==0:
235
+ print(json.dumps({'done':len(results),'errors':len(errors),'seconds':round(time.monotonic()-started,1)}),flush=True)
236
+ results.sort(key=lambda r:(r['group'],r['case_id']))
237
+ rows=[]
238
+ for r in results:
239
+ for h in r['hands']:
240
+ rows.append({'group':r['group'],'case_id':r['case_id'],'accepted':r['accepted'],
241
+ **{k:h.get(k) for k in ['hand','status','needs_optimization','first_close_success','first_intent_s','intent_close_count','commanded_reopen_count','first_close_minimum_aperture_m','first_close_maximum_lift_m','first_loaded_bilateral_s','first_25mm_lift_held_500ms_start_s','first_close_longest_loaded_bilateral_s','max_object_motion_in_gripper_frame_m','relative_motion_review']},
242
+ 'contact_loss_count':len(h.get('contact_loss_before_release',[])),
243
+ 'slip_candidate_count':len(h.get('slip_candidates',[])),
244
+ 'recovery_before_proof_count':len(h.get('recovery_before_first_proof',[])),
245
+ 'report_path':str(OUT/'cases'/f"{r['group']}_{r['case_id']}.json")})
246
+ with (OUT/'all_150_hands.csv').open('w',newline='') as f:
247
+ writer=csv.DictWriter(f,fieldnames=list(rows[0]));writer.writeheader();writer.writerows(rows)
248
+ summary={'schema':'rssr.first_grasp_readonly_audit.v2','source_root':str(SOURCE),
249
+ 'cases_expected':150,'cases_audited':len(results),'errors':errors,
250
+ 'cases_needing_optimization':sum(r['needs_optimization'] for r in results),
251
+ 'accepted_cases_needing_optimization':sum(r['accepted'] and r['needs_optimization'] for r in results),
252
+ 'hand_status_counts':dict(collections.Counter(row['status'] for row in rows)),
253
+ 'hands_with_multiple_closes':sum((row['intent_close_count'] or 0)>1 for row in rows),
254
+ 'hands_with_slip_candidates':sum(row['slip_candidate_count']>0 for row in rows),
255
+ 'cases_with_legacy_contact_disagreement':sum(r['legacy_finger_side_samples_disagree']>0 for r in results),
256
+ 'wall_seconds':time.monotonic()-started,'criteria_path':str(OUT/'criteria.json'),
257
+ 'audit_script_sha256':digest(__file__)}
258
+ (OUT/'summary.json').write_text(json.dumps(summary,indent=2)+'\n')
259
+ (OUT/'all_150_cases.json').write_text(json.dumps(results,indent=2)+'\n')
260
+ print(json.dumps(summary),flush=True)
261
+
262
+
263
+ if __name__=='__main__':main()
150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000021/8928b40525bd5cdb8d9c508692edfadf6a8e57e80c7431528c5414db25aee164/verifiers/c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943.py ADDED
@@ -0,0 +1,178 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """Read-only, full-episode close cycles and original-policy release checks.
2
+
3
+ Unlike the original screening summary, opening detection does not depend on the
4
+ event name and counting continues after the first release. Intentional release
5
+ uses the frozen native guard verbatim; its geometry-ready path is legitimate.
6
+ """
7
+ from pathlib import Path
8
+ import copy
9
+ import hashlib
10
+ import json
11
+ import sys
12
+ import numpy as np
13
+
14
+
15
+ def acquisition_retention(time_s, forces, local, diagnostics):
16
+ """Keep the first stable loaded grasp, including the pre-25mm lift phase."""
17
+ t = time_s; dt = float(np.median(np.diff(t))); rows = []
18
+ for hi, (hand, obj) in enumerate(zip(('left', 'right'), ('cup_left_base', 'cup_right_upper'))):
19
+ intended = (diagnostics['event_object'] == obj) & (diagnostics['event_hand'] == hand)
20
+ acquisition = np.flatnonzero(intended & np.isin(diagnostics['event_kind'], ['contact', 'grasp']))
21
+ if not len(acquisition):
22
+ rows.append({'hand': hand, 'passed': False, 'reason': 'no_acquisition'}); continue
23
+ first = int(acquisition[0])
24
+ releases = np.flatnonzero(intended & (diagnostics['event_kind'] == 'release') & (np.arange(len(t)) >= first))
25
+ end = int(releases[0]) if len(releases) else len(t)
26
+ loaded = (forces[:, hi] > .0001).all(axis=-1)
27
+ def spans(mask):
28
+ edges = np.diff(np.r_[False, mask, False].astype(np.int8))
29
+ return [(int(a), int(b), float(t[b - 1] - t[a] + dt))
30
+ for a, b in zip(np.flatnonzero(edges == 1), np.flatnonzero(edges == -1))]
31
+ scope = (np.arange(len(t)) >= first) & (np.arange(len(t)) < end)
32
+ qualified = next((a for a, b, duration in spans(loaded & scope) if duration >= .1 - 1e-6), None)
33
+ losses = []; motion = None
34
+ if qualified is not None:
35
+ retain = (np.arange(len(t)) >= qualified) & (np.arange(len(t)) < end)
36
+ losses = [{'start_s': float(t[a]), 'end_s': float(t[b - 1] + dt), 'duration_s': duration}
37
+ for a, b, duration in spans((~loaded) & retain) if duration > .1 + 1e-6]
38
+ motion = float(np.max(np.linalg.norm(local[qualified:end, hi] - local[qualified, hi], axis=1)))
39
+ rows.append({'hand': hand, 'object': obj,
40
+ 'first_stable_loaded_acquisition_s': float(t[qualified]) if qualified is not None else None,
41
+ 'contact_loss_after_first_loaded_acquisition': losses,
42
+ 'max_object_motion_from_first_loaded_acquisition_m': motion,
43
+ 'passed': qualified is not None and not losses and motion <= .015})
44
+ return {'schema': 'rssr.first_loaded_acquisition_retention.v1',
45
+ 'scope': 'first 100ms loaded bilateral acquisition until first legal release, including before the 25mm lift threshold',
46
+ 'maximum_contact_gap_s': .1, 'maximum_object_motion_in_gripper_m': .015,
47
+ 'hands': rows, 'passed': all(r['passed'] for r in rows)}
48
+
49
+
50
+ def evaluate(case, native, diagnostics, implementation):
51
+ case = Path(case)
52
+ sys.path.insert(0, str(implementation))
53
+ from rssr_augment.retarget.events import catalog
54
+ from rssr_augment.retarget.immutable_rule_guard import guard
55
+
56
+ receipt = json.loads((case / 'receipt.json').read_text())
57
+ contract = json.loads((case / 'execute/task_contract.json').read_text())
58
+ packets = [json.loads(p.read_text()) for p in sorted((case / 'decisions').glob('*/packet.json'))]
59
+ events = catalog(contract, {'objects': packets[0]['scene_objects']})
60
+ t = native['time_s']
61
+ kind, obj, hand = [diagnostics[k] for k in ('event_kind', 'event_object', 'event_hand')]
62
+ angle, aperture = diagnostics['desired_gripper_angle_rad'], native['gripper_opening']
63
+ rows = []
64
+ for hi, (h, o) in enumerate(zip(('left', 'right'), ('cup_left_base', 'cup_right_upper'))):
65
+ intent = (obj == o) & (hand == h)
66
+ acquisition = intent & np.isin(kind, ['contact', 'grasp'])
67
+ starts = np.flatnonzero(acquisition)
68
+ if not len(starts):
69
+ rows.append({'hand': h, 'object': o, 'passed': False, 'reason': 'no_acquisition'})
70
+ continue
71
+ first = int(starts[0])
72
+ releases = np.flatnonzero(intent & (kind == 'release') & (np.arange(len(t)) >= first))
73
+ release = int(releases[0]) if len(releases) else None
74
+
75
+ # First pre-close centering may open an initially half-closed SDK hand.
76
+ # A meaningful close starts only after a positive 0.06rad command rise.
77
+ state = 'waiting'; trough = float(angle[first, hi]); peak = trough
78
+ minimum_aperture = float(aperture[first, hi]); closes = []; opens = []
79
+ for i in range(first + 1, len(t)):
80
+ a, gap = float(angle[i, hi]), float(aperture[i, hi])
81
+ if state == 'waiting':
82
+ trough = min(trough, a)
83
+ if a - trough >= .06 - 1e-12:
84
+ closes.append(i); state = 'closing'; peak = a; minimum_aperture = gap
85
+ else:
86
+ peak = max(peak, a); minimum_aperture = min(minimum_aperture, gap)
87
+ if peak - a >= .12 - 1e-12 and gap - minimum_aperture >= .008 - 1e-12:
88
+ opens.append(i); state = 'waiting'; trough = a
89
+ unplanned = [i for i in opens if release is None or i < release]
90
+ later_acquisition = np.flatnonzero(acquisition & (np.arange(len(t)) >= (release if release is not None else len(t))))
91
+
92
+ release_evidence = {'present': release is not None, 'original_guard_allowed': False}
93
+ support_ok = False
94
+ if release is not None:
95
+ # The history rows record action end times. Find the exact action
96
+ # start boundary, then its saved native decision observation.
97
+ history = receipt['event_history']
98
+ ri = next(i for i, e in enumerate(history)
99
+ if e['event_id'].split(':')[0] == 'release'
100
+ and e.get('selected_object_id') == o and e.get('selected_hand') == h)
101
+ release_start = float(history[ri - 1]['time_s']) if ri else 0.
102
+ packet = min(packets, key=lambda p: abs(p['observation']['time_s'] - release_start))
103
+ packet_gap = abs(packet['observation']['time_s'] - release_start)
104
+ event = next(e for e in events if e.action.event == 'release' and e.action.object_id == o and e.action.hand == h)
105
+ packet_allowed, packet_reasons = guard(event, packet['observation'], contract, events)
106
+ # Packets are presentation records rounded to five decimal places.
107
+ # Rechecking a 6mm physical guard on them can reject 5.997104mm as
108
+ # 6.000000000000005mm. The preceding native history row is the
109
+ # actual same action boundary, with unrounded positions/predicates.
110
+ # Keep the frozen guard and its thresholds completely unchanged.
111
+ boundary = history[ri - 1] if ri else None
112
+ trusted = copy.deepcopy(packet['observation'])
113
+ boundary_valid = bool(boundary and all(k in boundary for k in
114
+ ('object_position_m', 'live_predicates', 'immutable_hard')))
115
+ if boundary_valid:
116
+ raw_time = float(boundary['immutable_hard']['time_s'])
117
+ boundary_valid = (abs(raw_time - release_start) <= 1e-4 and
118
+ abs(raw_time - packet['observation']['time_s']) <= 1e-4 and
119
+ all(np.array_equal(np.round(np.asarray(v), 5),
120
+ np.asarray(packet['observation']['object_position_m'][k]))
121
+ for k, v in boundary['object_position_m'].items()))
122
+ for key in ('object_position_m', 'live_predicates', 'finger_contact',
123
+ 'hand_contact', 'gripper_opening_m', 'gripper_scene_contacts',
124
+ 'immutable_hard'):
125
+ if key in boundary: trusted[key] = copy.deepcopy(boundary[key])
126
+ trusted['time_s'] = raw_time
127
+ allowed, reasons = guard(event, trusted, contract, events)
128
+ if not boundary_valid:
129
+ reasons = list(reasons) + ['same_boundary_unrounded_native_evidence_missing_or_mismatched']
130
+ allowed = False
131
+ release_evidence.update(time_s=release_start, packet_time_s=packet['observation']['time_s'],
132
+ packet_time_error_s=packet_gap, original_guard_allowed=bool(allowed and packet_gap <= 1e-4),
133
+ original_guard_reasons=reasons,
134
+ guard_input_precision='Unrounded native history action boundary; no epsilon or physical threshold change',
135
+ native_history_row_index=ri - 1 if ri else None,
136
+ native_history_row_sha256=hashlib.sha256(json.dumps(boundary,sort_keys=True,separators=(',',':')).encode()).hexdigest() if boundary else None,
137
+ native_history_exact_time_s=trusted['time_s'],
138
+ native_boundary_valid=boundary_valid,
139
+ rounded_packet_guard_allowed=packet_allowed,
140
+ rounded_packet_guard_reasons=packet_reasons,
141
+ support_at_release=packet['observation']['support_contact'][o])
142
+
143
+ # Original stack contract: base must settle on worktable; upper on
144
+ # base. contacts[..., -1] is the runtime worktable column. The
145
+ # unchanged native final task judge still supplies relation,
146
+ # contact-fraction, released and full 1s stability requirements.
147
+ supported = (native['contacts'][:, hi, -1] > 0 if hi == 0
148
+ else native['object_contacts'][:, hi, 0] > 0)
149
+ stable = next(p for p in contract['predicates'] if p['kind'] == 'stable')
150
+ window = float(stable['window_s']); final_window = t >= t[-1] - window - 1e-8
151
+ motion = float(np.linalg.norm(np.ptp(native['object_position'][final_window, hi], axis=0)))
152
+ support_ok = bool(np.all(supported[final_window]) and motion <= float(stable['max_motion_m']) + 1e-12)
153
+ supported_after = np.flatnonzero(supported & (np.arange(len(t)) >= release))
154
+ release_evidence.update(expected_support='worktable' if hi == 0 else 'cup_left_base',
155
+ first_post_release_support_s=float(t[supported_after[0]]) if len(supported_after) else None,
156
+ final_support_continuous=bool(np.all(supported[final_window])),
157
+ original_stability_window_s=window, final_window_motion_m=motion,
158
+ original_maximum_motion_m=float(stable['max_motion_m']),
159
+ supported_and_stable_at_end=support_ok)
160
+ checks = {
161
+ 'one_meaningful_close_in_full_episode': len(closes) == 1,
162
+ 'no_unplanned_physical_reopens_in_any_event': not unplanned,
163
+ 'no_acquisition_after_first_release': not len(later_acquisition),
164
+ 'first_release_allowed_by_original_native_guard': release_evidence['original_guard_allowed'],
165
+ 'final_expected_support_and_original_stability': support_ok,
166
+ }
167
+ rows.append({'hand': h, 'object': o, 'checks': checks, 'passed': all(checks.values()),
168
+ 'meaningful_close_s': [float(t[i]) for i in closes],
169
+ 'actual_reopen_s': [float(t[i]) for i in opens],
170
+ 'unplanned_actual_reopen_s': [float(t[i]) for i in unplanned],
171
+ 'post_release_acquisition_samples': len(later_acquisition),
172
+ 'release': release_evidence})
173
+ return {'schema': 'rssr.full_episode_grasp_release_integrity.v2',
174
+ 'criteria': {'close_command_rise_rad': .06, 'reopen_command_fall_rad': .12,
175
+ 'reopen_actual_aperture_rise_m': .008,
176
+ 'cycle_window': 'first target acquisition to complete native episode, all event names',
177
+ 'release_policy': 'unmodified frozen immutable_rule_guard.guard; support OR exact frozen goal geometry'},
178
+ 'hands': rows, 'passed': all(row['passed'] for row in rows)}
150case_data_enhance_blender_v2_trajectory_refine/manifest.json CHANGED
@@ -4,12 +4,12 @@
4
  "path_in_repo": "150case_data_enhance_blender_v2_trajectory_refine",
5
  "dataset_path": ".",
6
  "source_prefix_read_only": "150case_data_enhance_blender_v2",
7
- "episodes": 106,
8
- "frames": 144375,
9
- "videos": 318,
10
  "origin_counts": {
11
  "original_clean": 92,
12
- "refined": 14
13
  },
14
  "original_previous_filter_count": 92,
15
  "refined_snapshot_expected": 19,
 
4
  "path_in_repo": "150case_data_enhance_blender_v2_trajectory_refine",
5
  "dataset_path": ".",
6
  "source_prefix_read_only": "150case_data_enhance_blender_v2",
7
+ "episodes": 107,
8
+ "frames": 145840,
9
+ "videos": 321,
10
  "origin_counts": {
11
  "original_clean": 92,
12
+ "refined": 15
13
  },
14
  "original_previous_filter_count": 92,
15
  "refined_snapshot_expected": 19,
150case_data_enhance_blender_v2_trajectory_refine/meta/episodes.jsonl CHANGED
@@ -104,3 +104,4 @@
104
  {"episode_index": 103, "tasks": ["Stack_the_cups_together."], "length": 1475}
105
  {"episode_index": 104, "tasks": ["Stack_the_cups_together."], "length": 1482}
106
  {"episode_index": 105, "tasks": ["Stack_the_cups_together."], "length": 1552}
 
 
104
  {"episode_index": 103, "tasks": ["Stack_the_cups_together."], "length": 1475}
105
  {"episode_index": 104, "tasks": ["Stack_the_cups_together."], "length": 1482}
106
  {"episode_index": 105, "tasks": ["Stack_the_cups_together."], "length": 1552}
107
+ {"episode_index": 106, "tasks": ["Stack_the_cups_together."], "length": 1465}
150case_data_enhance_blender_v2_trajectory_refine/meta/episodes_stats.jsonl CHANGED
@@ -104,3 +104,4 @@
104
  {"episode_index": 103, "stats": {"observation.state": {"min": [0.5173925757408142, -1.065138339996338, 0.2796472907066345, 0.017234621569514275, 0.008979729376733303, 0.7475384473800659, -0.7796183824539185, -0.1864449828863144, -1.4179800748825073, 0.15949609875679016, -0.5997797250747681, 0.16744892299175262, -0.10035302489995956, 0.017834046855568886, 0.017855381593108177, -0.27995264530181885, 0.0178349781781435, -0.27995264530181885, 0.017847713083028793, -0.36938634514808655, -0.38553953170776367, 0.9154599905014038, 0.4507555067539215, 0.27675914764404297, 0.10385610908269882, -0.678179919719696, 0.01993541233241558, 0.01993713341653347, -0.43852531909942627, 0.019936978816986084, -0.4385254383087158, 0.019937027245759964], "max": [0.7821489572525024, -0.8003796935081482, 0.2800901532173157, 0.017342807725071907, 0.009045753628015518, 0.7487621307373047, -0.09890543669462204, 0.4725809097290039, -0.5820609927177429, 1.5967828035354614, -0.07501351833343506, 0.7006676197052002, 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105
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106
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104
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105
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106
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150case_data_enhance_blender_v2_trajectory_refine/meta/info.json CHANGED
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269
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