Add S1 background appearance cup augmentation: 55 verified LeRobot episodes

Three geometric groups, one lighting recipe each. Preserve every published episode and every other repository directory.

150case_data_enhance_blender_v2/README.md

@@ -1,7 +1,7 @@
 # S1 cup stacking with matched background appearance — LeRobot v2.1
 
-51 / 150 accepted native trajectories, 70470 synchronized frames,
-153 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
+55 / 150 accepted native trajectories, 75809 synchronized frames,
+165 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
 Three randomized geometric groups per source case; one fixed lighting recipe per trajectory.
 The photo-aligned table baseline is 0.800000 m;
 each native physical augmentation records its actual tabletop height and delta.

150case_data_enhance_blender_v2/checksums.json

@@ -1,10 +1,10 @@
 {
   "README.md": {
-    "sha256": "a7278a615e0b6688beb9e363cd75d10c28c4b85c2f44260315afa6b3da07e51d",
+    "sha256": "426db4884d833af045943ca1dfc560effd60a6a339e689dbc93c36dc3c92cb8b",
     "bytes": 1937
   },
   "dataset/s1_stack_cups_real2_three_view_video/README.md": {
-    "sha256": "a7278a615e0b6688beb9e363cd75d10c28c4b85c2f44260315afa6b3da07e51d",
+    "sha256": "426db4884d833af045943ca1dfc560effd60a6a339e689dbc93c36dc3c92cb8b",
     "bytes": 1937
   },
   "dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000000.parquet": {
@@ -211,29 +211,45 @@
     "sha256": "4a0e8bbcb86f09a1fe870885ce2b29a25b37181a2902132f2a71c6ec7c060c73",
     "bytes": 294271
   },
+  "dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000051.parquet": {
+    "sha256": "0adb24668ea7ded992dac8a1350cdc78978bd5cd017c78635af330c45e1aab66",
+    "bytes": 258224
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000052.parquet": {
+    "sha256": "d26d86323c2f45f4c5fe963e3286556a18fda606969a593dddd85c59f410b0c0",
+    "bytes": 244802
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000053.parquet": {
+    "sha256": "abec388488a62bda041ae1ec6864728d705d1fcdc54002934ce50827f4afd28b",
+    "bytes": 286474
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000054.parquet": {
+    "sha256": "6b3e21a10dee02ec6a6a78b94561d1d974ffc3e25aa3e5f84e727610327215bb",
+    "bytes": 322874
+  },
   "dataset/s1_stack_cups_real2_three_view_video/meta/episodes.jsonl": {
-    "sha256": "3489d2e1d5db12632492e4b390dff17edc22e539a29ec916a3961c8da2dcdb74",
-    "bytes": 3917
+    "sha256": "a3a11ba5b6559effc2f4b4ee2860e4ff97c163cf2d74e2f003559ecc56b1b8fc",
+    "bytes": 4225
   },
   "dataset/s1_stack_cups_real2_three_view_video/meta/episodes_stats.jsonl": {
-    "sha256": "6d4cb0d7d441fbbcf7f6d0d02f2d6e17c476baa81785e5017a3be04f23227ae1",
-    "bytes": 362542
+    "sha256": "618a9e97094db4d601f5f03990d58ead5b1c507c2a535ed53cb18299443875a4",
+    "bytes": 391038
   },
   "dataset/s1_stack_cups_real2_three_view_video/meta/info.json": {
-    "sha256": "cd0e8a92e2f6ead14962b8a9adfb3636f1243eb3ff1cd131570b2e36c12c20f4",
+    "sha256": "9d9e0a0dd35716c82d7a64eec61d5024975707d4bbe5224313156561848e394d",
     "bytes": 6491
   },
   "dataset/s1_stack_cups_real2_three_view_video/meta/source_case_groups.json": {
-    "sha256": "1a04a821578b2df32d120fb6ddd60eccd40fdb873902248cadffd51f1d2a6b77",
-    "bytes": 990
+    "sha256": "d38f451431e141ab7a385aad148ab6e45ce818e5c9d4ee0369f4ff7bb9bce4b0",
+    "bytes": 1084
   },
   "dataset/s1_stack_cups_real2_three_view_video/meta/source_cases.jsonl": {
-    "sha256": "aff378c98666437e211cac3a73f0aa4dde2d8d1f7140ec55b65cbad3308a8407",
-    "bytes": 47154
+    "sha256": "b72ee698ebdb02c25b5ba590127324b16670ab63a2fa5d11812c0c11c39478b2",
+    "bytes": 50854
   },
   "dataset/s1_stack_cups_real2_three_view_video/meta/stats.json": {
-    "sha256": "d37d6f1b175e4ddd9ed3d898f1540d122c20ba425aaf5c44c19c7381d4b40709",
-    "bytes": 11380
+    "sha256": "24e48e9a7aeaf2c32da3068db1bec99d81e94ca7b90d6fe5523c8c8ae8824a59",
+    "bytes": 11427
   },
   "dataset/s1_stack_cups_real2_three_view_video/meta/tasks.jsonl": {
     "sha256": "4659c522cb95e73d1538bd0f03f2920b8996996612df8fdf25a9d9982d7ff0b3",
@@ -443,6 +459,22 @@
     "sha256": "f986659f8fe6b438fc5711454bdf2cbb23a09db1fcd50549d3ab6b0850756409",
     "bytes": 533426
   },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000051.mp4": {
+    "sha256": "94ba7b61fd2698df8f2853d6c98227350676765c8655f3fb62ea34eacabc1413",
+    "bytes": 468961
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000052.mp4": {
+    "sha256": "cf419ba83b2ab22d468d47e87c1b6e6236f51e266ebac81f46074b259c2c70c7",
+    "bytes": 451083
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000053.mp4": {
+    "sha256": "3abb0813a99894de299077d9313e31ced35a69afb3dab995df501e80c4a23088",
+    "bytes": 507501
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000054.mp4": {
+    "sha256": "273854469fb33e6ca8738478a7e494df7c9b610d896c15db120d9f600e9dc8e5",
+    "bytes": 543235
+  },
   "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4": {
     "sha256": "b834793f66c1c8ce32e8c6caf6d0ea20ec75680b2f9d27e87b11eb7f52c7a704",
     "bytes": 451528
@@ -647,6 +679,22 @@
     "sha256": "9eadbc4cd9b3b894f862efff5a3b39cd45cb648b873428166966bf5f71ffda2c",
     "bytes": 411581
   },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000051.mp4": {
+    "sha256": "351b46157bd7294ae51ce2608e2409ebb93bb558878ce486416dfdeb9eab6a4d",
+    "bytes": 359204
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000052.mp4": {
+    "sha256": "b9756e695efe0dad9769098ba8128b9dcf10a35151b72990a40a33ee74f0bc1c",
+    "bytes": 388161
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000053.mp4": {
+    "sha256": "2d6681b7e09528a116bafc02819aec4730bd192289e16f41cf29d91d3f8eed3c",
+    "bytes": 421575
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000054.mp4": {
+    "sha256": "8749db08b0b92140a007394d0b52345f5c96df6941c07cf872d0c64a0a841cfa",
+    "bytes": 512957
+  },
   "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4": {
     "sha256": "f90fc5abf41e4cd7645776ff75e895ea6167cd3a1e96aa5efec83591ce2c992b",
     "bytes": 491011
@@ -851,6 +899,22 @@
     "sha256": "b64b13eae913b001dcf2ae1b12f9e3879de36eb0846d94d1b370784a0e9ca8c2",
     "bytes": 457043
   },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000051.mp4": {
+    "sha256": "6b1578f6364894c87291537e5661a0ae4f0d22cb853919622e4d7184e9056455",
+    "bytes": 389912
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000052.mp4": {
+    "sha256": "57ff3ad715964aec0e4aad93d5d167e5662fce92f837740783a48527b93ec45b",
+    "bytes": 427802
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000053.mp4": {
+    "sha256": "49551357a3ef803f4ec3f95b8627ceecb60a3d684a70dbdf30d373e749cb9cff",
+    "bytes": 436204
+  },
+  "dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000054.mp4": {
+    "sha256": "202bd9d958b3d7abefd465df243af86aedcce5d7ac0b427355d91f1a378e1553",
+    "bytes": 521635
+  },
   "episodes/physical_00__stack_cups_ep000000/actions_30fps.npz": {
     "sha256": "f3444407a3d9f90feab1bdd8acf0f7071c93a7ccef2eaf01a1e08a903b7e7b6e",
     "bytes": 2381695
@@ -1107,6 +1171,30 @@
     "sha256": "bfed80c185f84cdfbbf1ac1ea5b1a4d4558154885664382d2fe26f6e904686d6",
     "bytes": 43736
   },
+  "episodes/physical_01__stack_cups_ep000018/actions_30fps.npz": {
+    "sha256": "7c24abe5830e6ac4ad78c322e697aea42627d2ecff8a48d4d745ab02e174757b",
+    "bytes": 2142946
+  },
+  "episodes/physical_01__stack_cups_ep000018/verification.json": {
+    "sha256": "58ac6a4b6929ccc1ff658a22dfee8894a57484438726ddd0f0cde2bd24526362",
+    "bytes": 43745
+  },
+  "episodes/physical_01__stack_cups_ep000019/actions_30fps.npz": {
+    "sha256": "9e6522f687cffcf8e3ad787fc21c2c45033f00b0111cdc0bcb8ee5ca01f67572",
+    "bytes": 2093849
+  },
+  "episodes/physical_01__stack_cups_ep000019/verification.json": {
+    "sha256": "d1dd205ea01c2e53b59d987c93e8c54f73852ea2d3943cb3d650a4436c55c48b",
+    "bytes": 44240
+  },
+  "episodes/physical_01__stack_cups_ep000020/actions_30fps.npz": {
+    "sha256": "e183e0ab3a4da4deb8d8d7e595777df019c5393ed21c937bce045e1687031d6e",
+    "bytes": 2391697
+  },
+  "episodes/physical_01__stack_cups_ep000020/verification.json": {
+    "sha256": "ada0dd1148c61d9c168903f7bb0e195653f6bc3d35bacafee977de5a01716f23",
+    "bytes": 44240
+  },
   "episodes/physical_02__stack_cups_ep000000/actions_30fps.npz": {
     "sha256": "0dffdcb31f3b2dc672bb3d54695b65450c6bb47245d29af3f7c4545c1a295340",
     "bytes": 2172228
@@ -1259,8 +1347,16 @@
     "sha256": "43efa1f5f880f2006c12f90625abf593bee317b082ce744d1483cb5f2b9851e9",
     "bytes": 44242
   },
+  "episodes/physical_02__stack_cups_ep000019/actions_30fps.npz": {
+    "sha256": "c58f3635a92890c01db76fb49fc68864985a4c35abc9c1a6b02efaa9b8c57c86",
+    "bytes": 2635939
+  },
+  "episodes/physical_02__stack_cups_ep000019/verification.json": {
+    "sha256": "e72b09f624e55f0872ccbaf42448392ef4ccf81b29d8c319aafec17ab8b32f03",
+    "bytes": 43741
+  },
   "manifest.json": {
-    "sha256": "4dee5dec00ca1ae4bbd8f6d4228836475822243564d49939457f855c257d7bc8",
+    "sha256": "73ab428ccd9a086e8d41b895b3b2f25eeb863c7e5f97408244b42a4345c108f2",
     "bytes": 1256
   }
 }

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/README.md

@@ -1,7 +1,7 @@
 # S1 cup stacking with matched background appearance — LeRobot v2.1
 
-51 / 150 accepted native trajectories, 70470 synchronized frames,
-153 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
+55 / 150 accepted native trajectories, 75809 synchronized frames,
+165 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
 Three randomized geometric groups per source case; one fixed lighting recipe per trajectory.
 The photo-aligned table baseline is 0.800000 m;
 each native physical augmentation records its actual tabletop height and delta.

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000051.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0adb24668ea7ded992dac8a1350cdc78978bd5cd017c78635af330c45e1aab66
+size 258224

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000052.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26d86323c2f45f4c5fe963e3286556a18fda606969a593dddd85c59f410b0c0
+size 244802

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000053.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abec388488a62bda041ae1ec6864728d705d1fcdc54002934ce50827f4afd28b
+size 286474

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000054.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b3e21a10dee02ec6a6a78b94561d1d974ffc3e25aa3e5f84e727610327215bb
+size 322874

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/episodes.jsonl

@@ -49,3 +49,7 @@
 {"episode_index": 48, "tasks": ["Stack_the_cups_together."], "length": 1456}
 {"episode_index": 49, "tasks": ["Stack_the_cups_together."], "length": 1506}
 {"episode_index": 50, "tasks": ["Stack_the_cups_together."], "length": 1436}
+{"episode_index": 51, "tasks": ["Stack_the_cups_together."], "length": 1242}
+{"episode_index": 52, "tasks": ["Stack_the_cups_together."], "length": 1211}
+{"episode_index": 53, "tasks": ["Stack_the_cups_together."], "length": 1376}
+{"episode_index": 54, "tasks": ["Stack_the_cups_together."], "length": 1510}

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/episodes_stats.jsonl

@@ -49,3 +49,7 @@
 {"episode_index": 48, "stats": {"observation.state": {"min": [0.5173982381820679, -0.9408239126205444, 0.27956610918045044, 0.01719430834054947, 0.008962799794971943, 0.7473495006561279, -0.6595934629440308, -0.20089128613471985, -1.2773617506027222, 0.48842939734458923, -0.7034989595413208, 0.17618328332901, -0.05008406192064285, 0.009058117866516113, 0.009058740921318531, -0.6905425786972046, 0.009059198200702667, -0.6905319690704346, 0.00905945710837841, -0.20998263359069824, -0.3019445836544037, 0.9386820197105408, 1.0017781257629395, 0.28680601716041565, 0.02858007326722145, -0.6814774870872498, 0.009131669998168945, 0.009132273495197296, -0.43852606415748596, 0.009131125174462795, -0.43852609395980835, 0.009131863713264465], "max": [0.6578559279441833, -0.8003848791122437, 0.2802720367908478, 0.017396917566657066, 0.009057965129613876, 0.7489249110221863, -0.09063071012496948, 0.47180789709091187, -0.5240511894226074, 1.4571021795272827, -0.21983842551708221, 0.6068075895309448, 0.9364104866981506, 0.6905577778816223, 0.6905311942100525, -0.009057418443262577, 0.6905582547187805, -0.00905652716755867, 0.6905425190925598, 0.2469903975725174, 0.17336703836917877, 1.1488784551620483, 1.558483362197876, 0.5862863063812256, 0.5188279151916504, -0.1501099318265915, 0.4385259449481964, 0.43852609395980835, -0.00913267768919468, 0.4385264813899994, -0.009132646955549717, 0.43852654099464417], "mean": [0.6364930901307981, -0.9194917038164951, 0.27992020745935675, 0.017285740130918693, 0.009007121493226265, 0.7481807699979661, -0.4831204680715698, 0.01450696617779773, -0.8106497025096809, 1.0879065663154637, -0.5865924118987316, 0.35041811093073955, 0.6134012937786842, 0.11126652358875068, 0.11132497827658061, -0.11126654511663019, 0.11126657255546568, -0.11132664126561505, 0.11126659594662999, -0.021317199052226406, -0.1578037305871376, 1.0825722569620215, 1.4383402789359565, 0.5061324344395282, 0.2814268073051718, -0.32539370960996045, 0.3074712174539045, 0.3075706216348028, -0.307471277086054, 0.307470472292862, -0.30756534533293733, 0.307470537493118], "std": [0.04699041217107604, 0.046990434336561686, 8.295355771038226e-05, 1.532753289546021e-05, 3.5983781382303415e-06, 6.545020369290328e-05, 0.08876060398280584, 0.21219497466904533, 0.29267232310062896, 0.3740235711758181, 0.13247608582374998, 0.13441867235403726, 0.3721143892364415, 0.1559097916290307, 0.15594319357185651, 0.1559098050588169, 0.1559095476625568, 0.1559453626884557, 0.15590956524298974, 0.169937338055054, 0.14485151927972298, 0.05087075406878494, 0.14613146301335558, 0.09192504981043971, 0.12494910851718287, 0.1621816028743998, 0.15000741395986758, 0.14993776841128348, 0.15000743603356437, 0.1500078786876307, 0.14994153738821933, 0.15000788469197066], "count": [1456]}, "action": {"min": [0.5174471735954285, -0.940601646900177, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.6640339493751526, -0.19994419813156128, -1.2728263139724731, 0.4882120192050934, -0.7034816741943359, 0.17665202915668488, -0.050328828394412994, 0.019999999552965164, -0.20994678139686584, -0.30194443464279175, 0.9394922852516174, 1.0027101039886475, 0.28673306107521057, 0.02904253825545311, -0.6814822554588318, 0.019999999552965164], "max": [0.6576030254364014, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.08978559076786041, 0.47206833958625793, -0.5245256423950195, 1.4568355083465576, -0.2197154015302658, 0.604155421257019, 0.9365339279174805, 0.6875, 0.24871793389320374, 0.17346350848674774, 1.1485191583633423, 1.5584722757339478, 0.5862865447998047, 0.5191068649291992, -0.15011121332645416, 0.43850773572921753], "mean": [0.6364934486592864, -0.9194920458882064, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.48252409052328915, 0.014749829112558503, -0.8105625061134061, 1.087796829374773, -0.5865590007013672, 0.3502448156967268, 0.6134557416426505, 0.11326418473937927, -0.02036152843452778, -0.15792286473995293, 1.0829566939027755, 1.438494595033782, 0.5060960418125103, 0.2815980124069828, -0.3253970935961211, 0.30955796602570995], "std": [0.046976267699958184, 0.04697625730573232, 0.0, 0.0, 0.0, 0.0, 0.08788443246085544, 0.21230529762527173, 0.29238478587513794, 0.37430877584855077, 0.13251542914715145, 0.13389016574140242, 0.3720158973893219, 0.157215306971564, 0.17090761474212599, 0.14473237244121015, 0.05073895061932037, 0.14611677766507322, 0.09196636761797194, 0.12481488336593269, 0.1621796180446528, 0.14852670859650027], "count": [1456]}, "timestamp": {"min": [0.0], "max": [48.5], "mean": [24.25000000005373], "std": [14.010363227921374], "count": [1456]}, "frame_index": {"min": [0.0], "max": [1455.0], "mean": [727.5], "std": [420.3108968370913], "count": [1456]}, "episode_index": {"min": [48.0], "max": [48.0], "mean": [48.0], "std": [0.0], "count": [1456]}, "index": {"min": [66072.0], "max": [67527.0], "mean": [66799.5], "std": [420.3108968370913], "count": [1456]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1456]}, "physical_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1456]}, "source_case_index": {"min": [18.0], "max": [18.0], "mean": [18.0], "std": [0.0], "count": [1456]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1456]}, "physical_query_time_s": {"min": [0.0], "max": [48.5], "mean": [24.25], "std": [14.010363227903044], "count": [1456]}, "state_time_s": {"min": [0.0], "max": [48.50000000004955], "mean": [24.246668956044417], "std": [14.010362171488246], "count": [1456]}, "command_time_s": {"min": [0.0], "max": [48.50000000004955], "mean": [24.246668956044417], "std": [14.010362171488246], "count": [1456]}, "state_source_index": {"min": [0.0], "max": [4850.0], "mean": [2424.6668956043954], "std": [1401.0362171483084], "count": [1456]}, "command_source_index": {"min": [0.0], "max": [97000.0], "mean": [48493.33791208791], "std": [28020.72434296617], "count": [1456]}, "observation.images.cam_high": {"mean": [[[0.5329004734706382]], [[0.5348185195953382]], [[0.5282565909176171]]], "std": [[[0.22818168503831437]], [[0.22760244751593509]], [[0.23174191540348804]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8901960784313725]], [[0.9254901960784314]], [[0.9098039215686274]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6196470556972787]], [[0.6253390238908063]], [[0.6214438376913265]]], "std": [[[0.1589186440454636]], [[0.15675480266524358]], [[0.15856448881474178]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[1.0]], [[1.0]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.6115857038127752]], [[0.6186077712334933]], [[0.6131174211872249]]], "std": [[[0.17879726028304735]], [[0.17417335502174236]], [[0.17799361756832546]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [100]}}}
 {"episode_index": 49, "stats": {"observation.state": {"min": [0.517402172088623, -1.0301614999771118, 0.2795957326889038, 0.017225943505764008, 0.008964985609054565, 0.7474004030227661, -0.543574869632721, -0.14200899004936218, -1.3277056217193604, 0.3926670551300049, -0.6028040647506714, 0.19448484480381012, -0.1840982586145401, 0.019619707018136978, 0.019619790837168694, -0.27995264530181885, 0.019619662314653397, -0.27995264530181885, 0.019619673490524292, -0.3035515248775482, -0.36154887080192566, 0.9844515323638916, 0.6157020330429077, 0.22930143773555756, 0.19514252245426178, -0.6003058552742004, 0.015787390992045403, 0.01578482612967491, -0.4385232925415039, 0.01578734628856182, -0.4385232627391815, 0.015785938128829002], "max": [0.7471688985824585, -0.8003910183906555, 0.2802046835422516, 0.017346316948533058, 0.009057347662746906, 0.7489379644393921, -0.1377619504928589, 0.47120100259780884, -0.5923508405685425, 1.4300717115402222, -0.16688190400600433, 0.6895445585250854, 0.8972993493080139, 0.27995264530181885, 0.27995264530181885, -0.01961969956755638, 0.27995264530181885, -0.019619541242718697, 0.27995264530181885, 0.3004949390888214, 0.23816604912281036, 1.2387549877166748, 1.7030446529388428, 0.5862839818000793, 0.7006865739822388, -0.09171855449676514, 0.4385232925415039, 0.43852320313453674, -0.01578613556921482, 0.43852344155311584, -0.01578480377793312, 0.43852347135543823], "mean": [0.7387657103785481, -1.0217642743748974, 0.2799420785183609, 0.01728632811278817, 0.009007144125690498, 0.7481803210924662, -0.37977676598199334, 0.06165463929972472, -0.7824459979496154, 1.128747346431294, -0.4934259602332495, 0.3566994752541956, 0.6668098314428254, 0.08668154212033963, 0.0867620926439406, -0.08668158573666179, 0.0866802627131699, -0.08675161749990298, 0.08668031174303645, -0.05861088219770106, -0.14189121751047765, 1.0929787967942783, 1.4260179955329237, 0.46938493553979466, 0.32953520206262077, -0.33640205290707775, 0.3221313267597461, 0.3221869260656485, -0.3221313818586696, 0.3221324672526711, -0.32219729008175346, 0.32213253200370795], "std": [0.038728365260995275, 0.03872895913878534, 2.7107787301101147e-05, 1.0685509539797327e-05, 2.880259028156309e-06, 5.319590966502128e-05, 0.07802301027211705, 0.2109094298394109, 0.2422672856932811, 0.35223142969795274, 0.10423955263152905, 0.13218488921378924, 0.3399687951367972, 0.08091683506048178, 0.08101446913831667, 0.0809168345334917, 0.08091531730461299, 0.08100168114546323, 0.08091532857173005, 0.23996422807398124, 0.2262905507977644, 0.05820782996014884, 0.29223256137564796, 0.12617097290881615, 0.1021091122735595, 0.13472976278056356, 0.1355477675445895, 0.1355214607067492, 0.13554776451442221, 0.13554720057328862, 0.13551672915334884, 0.1355471679694874], "count": [1506]}, "action": {"min": [0.5174471735954285, -1.0297973155975342, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.5413638353347778, -0.14190362393856049, -1.3278931379318237, 0.39278292655944824, -0.6028274893760681, 0.19488738477230072, -0.18387851119041443, 0.019999999552965164, -0.3034844994544983, -0.36153748631477356, 0.9854057431221008, 0.6155009269714355, 0.22925320267677307, 0.1955762356519699, -0.6003252863883972, 0.019999999552965164], "max": [0.7467986941337585, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.13790269196033478, 0.47200313210487366, -0.5929043292999268, 1.429978370666504, -0.16676019132137299, 0.6895533800125122, 0.897381603717804, 0.21485264599323273, 0.2988601326942444, 0.23832455277442932, 1.2393063306808472, 1.703043818473816, 0.5862841606140137, 0.70038902759552, -0.09203405678272247, 0.43850773572921753], "mean": [0.7387606099465612, -1.0217592616084403, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.38090989367657924, 0.0616613175119019, -0.7826422870079993, 1.1289039356497972, -0.49339098946388027, 0.35686535181435614, 0.6668102481414979, 0.08900399388347173, -0.05750775424248581, -0.1420166261201015, 1.093305908509618, 1.4261899721495817, 0.46935541954529714, 0.3297167371706184, -0.33640643079600646, 0.32442973697110317], "std": [0.03872118048281135, 0.03872118769341621, 0.0, 0.0, 0.0, 0.0, 0.07827022176989595, 0.21114100232622696, 0.24244487654381808, 0.35211981247205393, 0.10428941865139402, 0.1322692448894638, 0.33996233149482125, 0.08378385747107517, 0.24109697146824963, 0.22618503611465895, 0.05825257594751927, 0.29207641774449455, 0.12620744570653517, 0.10212300308937182, 0.13472566760918253, 0.13447743396194664], "count": [1506]}, "timestamp": {"min": [0.0], "max": [50.16666793823242], "mean": [25.08333333338528], "std": [14.491488562007119], "count": [1506]}, "frame_index": {"min": [0.0], "max": [1505.0], "mean": [752.5], "std": [434.74465685809946], "count": [1506]}, "episode_index": {"min": [49.0], "max": [49.0], "mean": [49.0], "std": [0.0], "count": [1506]}, "index": {"min": [67528.0], "max": [69033.0], "mean": [68280.5], "std": [434.74465685809946], "count": [1506]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1506]}, "physical_index": {"min": [2.0], "max": [2.0], "mean": [2.0], "std": [0.0], "count": [1506]}, "source_case_index": {"min": [17.0], "max": [17.0], "mean": [17.0], "std": [0.0], "count": [1506]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1506]}, "physical_query_time_s": {"min": [0.0], "max": [50.140000000057384], "mean": [25.083315626383392], "std": [14.491457929206339], "count": [1506]}, "state_time_s": {"min": [0.0], "max": [50.140000000057384], "mean": [25.079986719789737], "std": [14.491460731416806], "count": [1506]}, "command_time_s": {"min": [0.0], "max": [50.140000000057384], "mean": [25.079986719789737], "std": [14.491460731416806], "count": [1506]}, "state_source_index": {"min": [0.0], "max": [5014.0], "mean": [2507.9986719787516], "std": [1449.1460731409022], "count": [1506]}, "command_source_index": {"min": [0.0], "max": [100280.0], "mean": [50159.973439575035], "std": [28982.921462818045], "count": [1506]}, "observation.images.cam_high": {"mean": [[[0.543770450367647]], [[0.5459150925995399]], [[0.5391883612820129]]], "std": [[[0.20133235211600897]], [[0.2005772959326697]], [[0.20451098148044575]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8784313725490196]], [[0.9098039215686274]], [[0.8980392156862745]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6196207639305723]], [[0.6258300945378151]], [[0.6232251681922769]]], "std": [[[0.1613637779347552]], [[0.15899273583293444]], [[0.1608193246355031]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.996078431372549]], [[0.9803921568627451]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.6219445872098841]], [[0.6294199679871948]], [[0.6261119205494697]]], "std": [[[0.16440003733615707]], [[0.16093805576859868]], [[0.16396213098509457]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.996078431372549]], [[0.984313725490196]]], "count": [100]}}}
 {"episode_index": 50, "stats": {"observation.state": {"min": [0.5173946022987366, -1.1208943128585815, 0.27973923087120056, 0.01720997877418995, 0.008969907648861408, 0.747586727142334, -0.6297883987426758, -0.14579486846923828, -1.2905967235565186, 0.35695680975914, -0.5843419432640076, 0.11573554575443268, -0.06529459357261658, 0.019638672471046448, 0.019638556987047195, -0.28508061170578003, 0.019638530910015106, -0.28534549474716187, 0.019638586789369583, -0.3981788456439972, -0.42399153113365173, 0.8737126588821411, 0.7259685397148132, 0.2644791901111603, 0.016074229031801224, -0.7401756048202515, 0.00954053457826376, 0.009526611305773258, -0.43852585554122925, 0.009540186263620853, -0.43852606415748596, 0.009531852789223194], "max": [0.8378775119781494, -0.8003931045532227, 0.28016841411590576, 0.01734785921871662, 0.009036374278366566, 0.7488229274749756, -0.12641198933124542, 0.47107166051864624, -0.619165301322937, 1.6624195575714111, -0.14687487483024597, 0.7011305093765259, 0.947245180606842, 0.28509384393692017, 0.2854011058807373, -0.01963878981769085, 0.2850705087184906, -0.019638678058981895, 0.28506141901016235, 0.2933291792869568, 0.1358756572008133, 1.2607749700546265, 1.8445165157318115, 0.625054657459259, 0.5952943563461304, 0.010405267588794231, 0.4385257065296173, 0.4385259747505188, -0.009532376192510128, 0.43852657079696655, -0.00952678732573986, 0.43852657079696655], "mean": [0.8182029534432217, -1.101201587234699, 0.27994008067590614, 0.017286664664921736, 0.00900713231967124, 0.7481805798403068, -0.3125114906112298, -0.0211734942035984, -0.825755148627964, 1.3573182769597074, -0.47334606877027446, 0.2316400724512455, 0.6897007127075878, 0.08308828475789107, 0.08312431945462911, -0.08308832292784846, 0.0830876509850964, -0.08311857360033811, 0.08308769489993914, -0.0480474329209487, -0.19687098558950963, 1.0893339867130296, 1.5236206861591606, 0.5080562053160083, 0.25964149384575175, -0.3693113661066189, 0.2843916075930653, 0.2844905717743296, -0.2843916269251428, 0.2843935322904996, -0.28450621012338856, 0.28439355329843885], "std": [0.07134883356367638, 0.07134837231284004, 2.332631287277211e-05, 1.076784733390706e-05, 2.064435890931253e-06, 4.0747779850390185e-05, 0.08820223113287529, 0.17973658437416393, 0.20641901048036146, 0.4277385688203539, 0.09751724512944057, 0.17971336740473726, 0.3215617132034139, 0.11024177775820027, 0.110304909647947, 0.11024178126822524, 0.11024068175630647, 0.11029480388846225, 0.11024070995324123, 0.2628366710330688, 0.18675550705597177, 0.10472895457326913, 0.3029372660973295, 0.10735262003460139, 0.14040276283994993, 0.20187725989835656, 0.1406576566986696, 0.140617356954885, 0.1406577183354966, 0.14065683710513927, 0.1406110507852202, 0.14065688286885838], "count": [1436]}, "action": {"min": [0.5174471735954285, -1.1207976341247559, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.6266224980354309, -0.14238500595092773, -1.2904876470565796, 0.35727962851524353, -0.584375262260437, 0.11573557555675507, -0.06524438410997391, 0.019999999552965164, -0.39813217520713806, -0.42399194836616516, 0.8745622038841248, 0.7269816994667053, 0.26440536975860596, 0.016489878296852112, -0.7401966452598572, 0.019999999552965164], "max": [0.8377990126609802, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.1271718293428421, 0.4723407030105591, -0.6203815340995789, 1.6623480319976807, -0.1467517465353012, 0.701209545135498, 0.9475507140159607, 0.2980000078678131, 0.2924784719944, 0.13620546460151672, 1.2602876424789429, 1.8444950580596924, 0.6249880194664001, 0.5953238606452942, 0.01035708375275135, 0.43850773572921753], "mean": [0.8181977339690775, -1.1011963863558756, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.3132639696256032, -0.021132145270251416, -0.8258562556631386, 1.3574268921670143, -0.4733250148407596, 0.23174709087875892, 0.6896940506150187, 0.08449720116306231, -0.04676076807769166, -0.19706570141606486, 1.089862905421961, 1.5238235779210385, 0.5080132754441755, 0.2598626496293647, -0.36930913792668213, 0.28726347483964354], "std": [0.07134257757076934, 0.07134258754530681, 0.0, 0.0, 0.0, 0.0, 0.08850343816722231, 0.17984483884667374, 0.20649723297636993, 0.4276260313351274, 0.097556543653277, 0.179813228609478, 0.3215747394573804, 0.11272458206346697, 0.2638548122908277, 0.18671184873037738, 0.10472577392514884, 0.3028500311024673, 0.10739418886939142, 0.14030858529718757, 0.20187947146555643, 0.1394542357273908], "count": [1436]}, "timestamp": {"min": [0.0], "max": [47.83333206176758], "mean": [23.916666665835653], "std": [13.81791309061017], "count": [1436]}, "frame_index": {"min": [0.0], "max": [1435.0], "mean": [717.5], "std": [414.53739276451284], "count": [1436]}, "episode_index": {"min": [50.0], "max": [50.0], "mean": [50.0], "std": [0.0], "count": [1436]}, "index": {"min": [69034.0], "max": [70469.0], "mean": [69751.5], "std": [414.53739276451284], "count": [1436]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1436]}, "physical_index": {"min": [2.0], "max": [2.0], "mean": [2.0], "std": [0.0], "count": [1436]}, "source_case_index": {"min": [18.0], "max": [18.0], "mean": [18.0], "std": [0.0], "count": [1436]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1436]}, "physical_query_time_s": {"min": [0.0], "max": [47.830000000046354], "mean": [23.91666434540393], "std": [13.817909074683486], "count": [1436]}, "state_time_s": {"min": [0.0], "max": [47.830000000046354], "mean": [23.9133356545959], "std": [13.817912018982128], "count": [1436]}, "command_time_s": {"min": [0.0], "max": [47.830000000046354], "mean": [23.9133356545959], "std": [13.817912018982128], "count": [1436]}, "state_source_index": {"min": [0.0], "max": [4783.0], "mean": [2391.33356545961], "std": [1381.7912018977984], "count": [1436]}, "command_source_index": {"min": [0.0], "max": [95660.0], "mean": [47826.6713091922], "std": [27635.824037955965], "count": [1436]}, "observation.images.cam_high": {"mean": [[[0.5999758770695778]], [[0.602160525147559]], [[0.5970681186537115]]], "std": [[[0.20432365567812488]], [[0.20359239029895562]], [[0.20787538074713133]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8980392156862745]], [[0.9098039215686274]], [[0.8980392156862745]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6642554170105542]], [[0.6695291499412265]], [[0.6677481383178271]]], "std": [[[0.15918786850915498]], [[0.15776392927176988]], [[0.1599265698566879]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[1.0]], [[0.9882352941176471]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.6558762254901962]], [[0.6640131818352341]], [[0.6616148006077431]]], "std": [[[0.17293435486942124]], [[0.16724940039167696]], [[0.17057951843107327]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9921568627450981]], [[0.9764705882352941]]], "count": [100]}}}
+{"episode_index": 51, "stats": {"observation.state": {"min": [0.5174112319946289, -1.0401313304901123, 0.2796429991722107, 0.017233295366168022, 0.008979410864412785, 0.7475248575210571, -0.6732191443443298, -0.1664813905954361, -1.281147837638855, 0.3576798439025879, -0.5924482941627502, 0.1078042984008789, -0.020118147134780884, 0.011737385764718056, 0.011750183999538422, -0.27995264530181885, 0.011738661676645279, -0.27995264530181885, 0.01174632366746664, -0.3140023648738861, -0.3683868646621704, 0.937497615814209, 0.9090065360069275, 0.27392706274986267, 0.08325687795877457, -0.6691912412643433, 0.013076786883175373, 0.013061929494142532, -0.4385259449481964, 0.01307746209204197, -0.43852612376213074, 0.013068796135485172], "max": [0.757164716720581, -0.8004124164581299, 0.28015199303627014, 0.01735462248325348, 0.009049278683960438, 0.7488235235214233, -0.11079422384500504, 0.4708104431629181, -0.6911256909370422, 1.586493730545044, -0.18726123869419098, 0.6504846215248108, 0.8790980577468872, 0.27995264530181885, 0.27995264530181885, -0.011744423769414425, 0.27995264530181885, -0.011748404242098331, 0.27995264530181885, 0.23478153347969055, 0.1871539056301117, 1.1770864725112915, 1.7190632820129395, 0.5862846374511719, 0.5658797025680542, -0.15012095868587494, 0.4385257959365845, 0.43852606415748596, -0.013067372143268585, 0.43852663040161133, -0.013062316924333572, 0.43852663040161133], "mean": [0.7383155225267732, -1.021313954954562, 0.27993954768503343, 0.017286409193502918, 0.009007187689925977, 0.7481798585774242, -0.35639730742540143, 0.0354295780579672, -0.9027168472895876, 1.2247348496399448, -0.46286042694500296, 0.2487719021257667, 0.5954595007023068, 0.08016890902732066, 0.08022310575035412, -0.08016895660350697, 0.0801680147236936, -0.08021550247109767, 0.08016806710196506, -0.05122188889770581, -0.1764845477361922, 1.085412433805865, 1.4910284341725366, 0.49877880091348514, 0.27962122925357735, -0.3535695975217458, 0.31726084263611365, 0.31732235979828716, -0.3172608943815057, 0.31726200632367063, -0.317332801837984, 0.3172620654641538], "std": [0.06085594927329824, 0.06085623249227328, 2.5232580951075026e-05, 1.0827377423577002e-05, 2.3952835205222514e-06, 4.4973188501175394e-05, 0.11839640267660495, 0.16286959871021855, 0.19806570786117395, 0.43571533578387156, 0.08631608216926502, 0.18801695325163947, 0.31490119992464255, 0.08930433400227182, 0.08938479707894079, 0.08930437176098167, 0.08930301078801817, 0.08937348308602601, 0.08930306765340651, 0.22511405967549375, 0.17960343082699973, 0.06331267828734544, 0.21907112350818522, 0.09601978629803154, 0.11350366056334707, 0.15230116351140668, 0.13445508055270128, 0.13442943862079676, 0.1344551091383143, 0.13445453481349165, 0.13442518970905495, 0.13445453792830514], "count": [1242]}, "action": {"min": [0.5174471735954285, -1.0399075746536255, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.6720246076583862, -0.1654307097196579, -1.2812461853027344, 0.35776588320732117, -0.5924307107925415, 0.10782010108232498, -0.020083587616682053, 0.019999999552965164, -0.3139630854129791, -0.3683862090110779, 0.9382357001304626, 0.9089872241020203, 0.27387142181396484, 0.083702951669693, -0.6691999435424805, 0.019999999552965164], "max": [0.7569089531898499, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.11003174632787704, 0.47176581621170044, -0.6919528841972351, 1.5861245393753052, -0.18722206354141235, 0.6502755284309387, 0.8794398903846741, 0.257999986410141, 0.23664653301239014, 0.18730254471302032, 1.1770433187484741, 1.7190442085266113, 0.5862847566604614, 0.5659375786781311, -0.150131955742836, 0.43850773572921753], "mean": [0.7383110060112104, -1.0213096017518866, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.3572435971715408, 0.03541061858516846, -0.9028508416984392, 1.2248530954410488, -0.46283931718260385, 0.24889352947065604, 0.5954580751541132, 0.08196880709793833, -0.05005557076827789, -0.17665556890881928, 1.0858768269347683, 1.4912112833701086, 0.49874451720484214, 0.27981641711652183, -0.3535719937412443, 0.31972835534784627], "std": [0.06084919655996277, 0.060849189684718086, 0.0, 0.0, 0.0, 0.0, 0.11878740642780333, 0.16289329134060557, 0.1981491840621637, 0.43562461505161887, 0.08635515954738736, 0.18809838582781685, 0.3149032577718608, 0.0919592190706582, 0.2261641290670146, 0.17947925558614516, 0.06332003103385274, 0.2189505416751939, 0.09605481518314062, 0.11344342625366194, 0.1522974987455801, 0.13340553847356862], "count": [1242]}, "timestamp": {"min": [0.0], "max": [41.36666488647461], "mean": [20.68333333093919], "std": [11.951146693890836], "count": [1242]}, "frame_index": {"min": [0.0], "max": [1241.0], "mean": [620.5], "std": [358.5344009529165], "count": [1242]}, "episode_index": {"min": [51.0], "max": [51.0], "mean": [51.0], "std": [0.0], "count": [1242]}, "index": {"min": [70470.0], "max": [71711.0], "mean": [71090.5], "std": [358.5344009529165], "count": [1242]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1242]}, "physical_index": {"min": [1.0], "max": [1.0], "mean": [1.0], "std": [0.0], "count": [1242]}, "source_case_index": {"min": [18.0], "max": [18.0], "mean": [18.0], "std": [0.0], "count": [1242]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1242]}, "physical_query_time_s": {"min": [0.0], "max": [41.35000000001541], "mean": [20.68331991411703], "std": [11.951123483699476], "count": [1242]}, "state_time_s": {"min": [0.0], "max": [41.35000000001541], "mean": [20.679991948465133], "std": [11.951126881417457], "count": [1242]}, "command_time_s": {"min": [0.0], "max": [41.35000000001541], "mean": [20.679991948465133], "std": [11.951126881417457], "count": [1242]}, "state_source_index": {"min": [0.0], "max": [4135.0], "mean": [2067.999194847021], "std": [1195.1126881421894], "count": [1242]}, "command_source_index": {"min": [0.0], "max": [82700.0], "mean": [41359.983896940415], "std": [23902.253762843786], "count": [1242]}, "observation.images.cam_high": {"mean": [[[0.5893477813000201]], [[0.5914201352415966]], [[0.5869593579619349]]], "std": [[[0.21303810660461212]], [[0.21249163942374588]], [[0.21654009901086302]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8862745098039215]], [[0.9176470588235294]], [[0.9058823529411765]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6687638070853341]], [[0.6743834432210385]], [[0.6731333681910263]]], "std": [[[0.1580767570079397]], [[0.15618738550599984]], [[0.15784471632361874]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[1.0]], [[0.9921568627450981]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.658893931009904]], [[0.6657837322428972]], [[0.6627042746786215]]], "std": [[[0.16966120080601446]], [[0.16528466351998514]], [[0.1693482373827385]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[1.0]], [[0.9882352941176471]]], "count": [100]}}}
+{"episode_index": 52, "stats": {"observation.state": {"min": [0.5174058675765991, -1.1321169137954712, 0.27963924407958984, 0.017236368730664253, 0.008961718529462814, 0.7475054860115051, -0.5505182147026062, -0.17374783754348755, -1.3422647714614868, 0.3631344139575958, -0.5764597654342651, 0.21244630217552185, -0.09022829681634903, 0.019620617851614952, 0.019620845094323158, -0.27995264530181885, 0.019620681181550026, -0.27995264530181885, 0.019620735198259354, -0.4097581207752228, -0.43168652057647705, 0.9235427379608154, 1.0379862785339355, 0.22758343815803528, 0.10579700767993927, -0.6753773093223572, 0.013176786713302135, 0.013184081763029099, -0.43852826952934265, 0.013175908476114273, -0.4385281205177307, 0.013180896639823914], "max": [0.8490829467773438, -0.8003957271575928, 0.28021904826164246, 0.01735733635723591, 0.009050557389855385, 0.749085009098053, -0.1377619504928589, 0.4725552201271057, -0.5523913502693176, 1.5968602895736694, -0.07250329107046127, 0.7028512358665466, 0.9719419479370117, 0.27995264530181885, 0.27995264530181885, -0.019620580598711967, 0.27995264530181885, -0.01962042786180973, 0.27995264530181885, 0.16658622026443481, 0.19561734795570374, 1.1451005935668945, 1.861236810684204, 0.5862851142883301, 0.601759135723114, -0.1501280516386032, 0.4385281205177307, 0.4385278820991516, -0.01318204216659069, 0.43852800130844116, -0.013184529729187489, 0.43852806091308594], "mean": [0.812507948729738, -1.095506681330828, 0.279939008930515, 0.017286690994851063, 0.009007125462287718, 0.7481811660365759, -0.31700669261023195, -0.004577684781551023, -0.8154672298128205, 1.260320890993249, -0.46469034885789223, 0.33233387109959645, 0.668854750732066, 0.09225629100731392, 0.09230286626315973, -0.09225633797181185, 0.09225553487028394, -0.09229598700858709, 0.09225558856860554, -0.131590169106859, -0.19703945046683982, 1.0747602785745993, 1.5743585363288835, 0.47432434814809077, 0.2892302476564879, -0.38298639783083555, 0.3129639711367885, 0.31302584275068035, -0.3129640338245647, 0.31296518094019393, -0.3130367219541914, 0.3129652533264912], "std": [0.07083379330710961, 0.0708339983743432, 2.9379023739371764e-05, 9.664408520176001e-06, 3.5391983806919975e-06, 6.94602867496334e-05, 0.0634015572245939, 0.2121588540208756, 0.2808804543280324, 0.41171134862977005, 0.13707789070510962, 0.16756039842990184, 0.36576000995848806, 0.10749209963463287, 0.10756145970084535, 0.10749207401833803, 0.10749098903604824, 0.10755117858346812, 0.10749098227744146, 0.2020513622199845, 0.1938486232273407, 0.06619086316071908, 0.20775319796124891, 0.11511088740368616, 0.11047059769184153, 0.14573604798566575, 0.13492892690846053, 0.13490341281886958, 0.13492892090083258, 0.13492837240060615, 0.1348990233203216, 0.13492834866948777], "count": [1211]}, "action": {"min": [0.5174471735954285, -1.1318409442901611, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.5501298904418945, -0.16873081028461456, -1.342227816581726, 0.3626164495944977, -0.5764493942260742, 0.21245232224464417, -0.09016856551170349, 0.019999999552965164, -0.4097224771976471, -0.4316839277744293, 0.9240607619285583, 1.0380409955978394, 0.22752386331558228, 0.10620588064193726, -0.6753987073898315, 0.019999999552965164], "max": [0.8488423228263855, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.13789327442646027, 0.4726479649543762, -0.5530566573143005, 1.5965837240219116, -0.07244867086410522, 0.7027819752693176, 0.9720994830131531, 0.2619999945163727, 0.1684631109237671, 0.19585752487182617, 1.1453888416290283, 1.861236810684204, 0.5862852931022644, 0.6018109917640686, -0.15012845396995544, 0.43850773572921753], "mean": [0.8125025504980079, -1.0955011966699022, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.31782239670599916, -0.0045204155191680695, -0.8155403130808514, 1.2604471456404072, -0.4646694747428083, 0.3324611630570682, 0.6688471322350087, 0.09403178364524509, -0.1304760195286249, -0.19715917199415278, 1.0752192129781677, 1.574549112705826, 0.47428657221557874, 0.2894299166087864, -0.3829876397214184, 0.31550938188783595], "std": [0.07082674931494713, 0.07082674833789498, 0.0, 0.0, 0.0, 0.0, 0.06280759232500163, 0.21230993918849944, 0.280934451365459, 0.41159798555122407, 0.13711532521691963, 0.16765341251503985, 0.36577380579486213, 0.11017663329358059, 0.20299829091273708, 0.19377887739137428, 0.06612730602529705, 0.20761930948263166, 0.11514816138186156, 0.11045023255467383, 0.1457339390790737, 0.13385387968896148], "count": [1211]}, "timestamp": {"min": [0.0], "max": [40.33333206176758], "mean": [20.166666665681255], "std": [11.652848958017653], "count": [1211]}, "frame_index": {"min": [0.0], "max": [1210.0], "mean": [605.0], "std": [349.5854688055555], "count": [1211]}, "episode_index": {"min": [52.0], "max": [52.0], "mean": [52.0], "std": [0.0], "count": [1211]}, "index": {"min": [71712.0], "max": [72922.0], "mean": [72317.0], "std": [349.5854688055555], "count": [1211]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1211]}, "physical_index": {"min": [1.0], "max": [1.0], "mean": [1.0], "std": [0.0], "count": [1211]}, "source_case_index": {"min": [19.0], "max": [19.0], "mean": [19.0], "std": [0.0], "count": [1211]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1211]}, "physical_query_time_s": {"min": [0.0], "max": [40.33000000001054], "mean": [20.166663914120573], "std": [11.652844196963127], "count": [1211]}, "state_time_s": {"min": [0.0], "max": [40.33000000001054], "mean": [20.163336085873894], "std": [11.652847687388753], "count": [1211]}, "command_time_s": {"min": [0.0], "max": [40.33000000001054], "mean": [20.163336085873894], "std": [11.652847687388753], "count": [1211]}, "state_source_index": {"min": [0.0], "max": [4033.0], "mean": [2016.333608587944], "std": [1165.2847687394249], "count": [1211]}, "command_source_index": {"min": [0.0], "max": [80660.0], "mean": [40326.67217175887], "std": [23305.69537478849], "count": [1211]}, "observation.images.cam_high": {"mean": [[[0.5742464368559924]], [[0.576426490127301]], [[0.5698431622649061]]], "std": [[[0.2040249655684635]], [[0.2029429628394323]], [[0.20748821015419042]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8980392156862745]], [[0.9058823529411765]], [[0.8901960784313725]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6498890986081933]], [[0.6553114566138956]], [[0.6526662922981692]]], "std": [[[0.15703677504341093]], [[0.1553330987750882]], [[0.15728780973628972]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[1.0]], [[0.9882352941176471]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.6358851142019307]], [[0.6435993600565226]], [[0.6399398947078832]]], "std": [[[0.16753083021411455]], [[0.1630190660108407]], [[0.16640445409880938]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9882352941176471]], [[0.9725490196078431]]], "count": [100]}}}
+{"episode_index": 53, "stats": {"observation.state": {"min": [0.5174044966697693, -1.164510726928711, 0.2796308994293213, 0.017237534746527672, 0.008985881693661213, 0.7474850416183472, -0.6051145195960999, -0.15571464598178864, -1.292959213256836, 0.3711455166339874, -0.5764597654342651, 0.16626715660095215, -0.09058143943548203, 0.019620202481746674, 0.019620398059487343, -0.27995264530181885, 0.019620243459939957, -0.27995264530181885, 0.01962028443813324, -0.44382408261299133, -0.4546343982219696, 0.9094322919845581, 1.0038682222366333, 0.22700662910938263, 0.0878024622797966, -0.6882028579711914, 0.0199801754206419, 0.01998019590973854, -0.43852218985557556, 0.01998014561831951, -0.4385220408439636, 0.019980156794190407], "max": [0.8814883232116699, -0.8003941178321838, 0.28007426857948303, 0.01735558733344078, 0.00905187614262104, 0.7486040592193604, -0.1377619504928589, 0.4711936414241791, -0.5782353281974792, 1.6460732221603394, -0.1169019341468811, 0.700609028339386, 0.972355842590332, 0.27995264530181885, 0.27995264530181885, -0.019620172679424286, 0.27995264530181885, -0.0196200180798769, 0.27995264530181885, 0.13835489749908447, 0.17387987673282623, 1.1510004997253418, 1.910483956336975, 0.5862849950790405, 0.5797053575515747, -0.15012773871421814, 0.4385221600532532, 0.4385220408439636, -0.019980203360319138, 0.43852367997169495, -0.019980205222964287, 0.43852365016937256], "mean": [0.8621551666062238, -1.1451536842383618, 0.279939275148303, 0.01728674275177899, 0.009007181991216575, 0.7481800240659436, -0.32124178064987063, 0.03177985284193795, -0.803404153303005, 1.247707690090634, -0.44620261773423747, 0.303444133995664, 0.6898780185803294, 0.10166175666313922, 0.10171476759417199, -0.10166181018982126, 0.10166088558413998, -0.10170689687880059, 0.10166094412074186, -0.16851098041035245, -0.22500526348537891, 1.0787804206876561, 1.6322246938077516, 0.4772866285882544, 0.27819230979806636, -0.39969971338503585, 0.3203328042846108, 0.3203920113060862, -0.3203329026122404, 0.3203339897594306, -0.32040259709072755, 0.32033409464015994], "std": [0.07361056784806765, 0.07361096976033982, 2.2883819146924856e-05, 9.745086271989226e-06, 2.1925005306937837e-06, 4.0513244715073946e-05, 0.09178215735459272, 0.21445424424871598, 0.244522256194865, 0.44969448000176293, 0.10846466681292273, 0.18000045194220446, 0.3575288080689388, 0.11117846041605038, 0.11125073959485614, 0.11117847366693863, 0.11117728475949244, 0.11123997182275193, 0.11117731074881652, 0.247851409165874, 0.2213434293623773, 0.07543634296571207, 0.26778541280357565, 0.11816112237464726, 0.10729304113049096, 0.14364830613816387, 0.1338667953649859, 0.13383945158100494, 0.13386675122375505, 0.1338661919974337, 0.13383468290107947, 0.13386612508161397], "count": [1376]}, "action": {"min": [0.5174471735954285, -1.1644002199172974, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.6026881337165833, -0.15068314969539642, -1.2929526567459106, 0.3711233139038086, -0.5764532089233398, 0.16626706719398499, -0.09043120592832565, 0.019999999552965164, -0.4437831938266754, -0.4546224772930145, 0.9100621938705444, 1.0039026737213135, 0.22695614397525787, 0.08824165165424347, -0.6882137060165405, 0.019999999552965164], "max": [0.881401538848877, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.13789679110050201, 0.47188809514045715, -0.5791160464286804, 1.646008014678955, -0.11685501039028168, 0.7005638480186462, 0.9726114869117737, 0.2980000078678131, 0.1400054693222046, 0.17411823570728302, 1.1512086391448975, 1.9104652404785156, 0.5862851738929749, 0.5797053575515747, -0.15012811124324799, 0.43850773572921753], "mean": [0.8621496283557526, -1.1451483039661896, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.322169738615928, 0.03187469758468915, -0.8035222267688706, 1.2478457260660307, -0.44617162055747456, 0.3035779036148343, 0.6898724647931611, 0.10370854747367936, -0.16747083944379526, -0.22511414958260206, 1.0792021770463434, 1.6324009151999341, 0.4772509344593557, 0.2783756439444111, -0.3997032033539442, 0.3227320842791435], "std": [0.07360295501835666, 0.07360296993215941, 0.0, 0.0, 0.0, 0.0, 0.09196682364102984, 0.21466292853978272, 0.24459497065980734, 0.44958966829652425, 0.10851185489797044, 0.18008414885529744, 0.3575378092462005, 0.11398439804944731, 0.24883774067019335, 0.22127395207226294, 0.0753362183990051, 0.26764627868140584, 0.11820023166485842, 0.1072559108563106, 0.14364387658678218, 0.13279126778303146], "count": [1376]}, "timestamp": {"min": [0.0], "max": [45.83333206176758], "mean": [22.91666666579942], "std": [13.240562675187487], "count": [1376]}, "frame_index": {"min": [0.0], "max": [1375.0], "mean": [687.5], "std": [397.21688030596084], "count": [1376]}, "episode_index": {"min": [53.0], "max": [53.0], "mean": [53.0], "std": [0.0], "count": [1376]}, "index": {"min": [72923.0], "max": [74298.0], "mean": [73610.5], "std": [397.21688030596084], "count": [1376]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1376]}, "physical_index": {"min": [1.0], "max": [1.0], "mean": [1.0], "std": [0.0], "count": [1376]}, "source_case_index": {"min": [20.0], "max": [20.0], "mean": [20.0], "std": [0.0], "count": [1376]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1376]}, "physical_query_time_s": {"min": [0.0], "max": [45.81000000003671], "mean": [22.91664970930235], "std": [13.240533342084571], "count": [1376]}, "state_time_s": {"min": [0.0], "max": [45.81000000003671], "mean": [22.913321220928204], "std": [13.240536410930439], "count": [1376]}, "command_time_s": {"min": [0.0], "max": [45.81000000003671], "mean": [22.913321220928204], "std": [13.240536410930439], "count": [1376]}, "state_source_index": {"min": [0.0], "max": [4581.0], "mean": [2291.3321220930234], "std": [1324.053641092923], "count": [1376]}, "command_source_index": {"min": [0.0], "max": [91620.0], "mean": [45826.642441860466], "std": [26481.07282185846], "count": [1376]}, "observation.images.cam_high": {"mean": [[[0.6217316113945578]], [[0.624070987770108]], [[0.6207609770470688]]], "std": [[[0.20271825988954267]], [[0.20172687085821311]], [[0.20534372262722314]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9215686274509803]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6853470138055222]], [[0.6905593854729392]], [[0.6886062948616948]]], "std": [[[0.15859680254425043]], [[0.15668603403951442]], [[0.15925436389998407]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[1.0]], [[0.9921568627450981]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.6721569995185573]], [[0.679792764762155]], [[0.6771768254176671]]], "std": [[[0.17140209990315483]], [[0.1657756807499342]], [[0.16926609127987916]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9921568627450981]], [[0.9882352941176471]]], "count": [100]}}}
+{"episode_index": 54, "stats": {"observation.state": {"min": [0.5173991918563843, -1.0291694402694702, 0.2796126902103424, 0.01720573753118515, 0.008975951932370663, 0.7473676800727844, -0.5018822550773621, -0.14200899004936218, -1.2708775997161865, 0.4592187702655792, -0.5764597654342651, 0.060381077229976654, -0.0813099667429924, 0.011752218008041382, 0.011751933954656124, -0.6218924522399902, 0.011752735823392868, -0.6218953132629395, 0.011752585880458355, -0.3024190664291382, -0.3608357906341553, 0.9077126383781433, 1.188675045967102, 0.24831651151180267, 0.010846567340195179, -0.7077816128730774, 0.01252581924200058, 0.012529423460364342, -0.43852347135543823, 0.012526256032288074, -0.4385233521461487, 0.012529109604656696], "max": [0.7461092472076416, -0.800387442111969, 0.28022244572639465, 0.017356909811496735, 0.00905262865126133, 0.7488160729408264, -0.1377619504928589, 0.4719195067882538, -0.7055312395095825, 1.6178886890411377, -0.07911796122789383, 0.6824779510498047, 0.9066400527954102, 0.6218862533569336, 0.6218952536582947, -0.011751712299883366, 0.6218861937522888, -0.011751191690564156, 0.6218923926353455, 0.15740345418453217, 0.153469055891037, 1.122921347618103, 1.701390027999878, 0.5862860679626465, 0.4729488492012024, -0.1501266062259674, 0.43852344155311584, 0.43852347135543823, -0.012528077699244022, 0.43852365016937256, -0.012530116364359856, 0.43852370977401733], "mean": [0.7379726331360292, -1.0209710668649106, 0.2799379938682973, 0.017285774218917683, 0.009007147315346839, 0.7481802770238839, -0.28563239153055164, 0.09574267665773864, -0.8903415838219472, 1.2782204499307848, -0.38640588265874526, 0.21266606206580108, 0.6324539149487283, 0.14125200820260292, 0.14135949146187562, -0.14125206231491158, 0.1412519566850453, -0.14135938018239688, 0.14125201402429416, -0.09746123707085379, -0.17486824968836304, 1.0652934749394853, 1.5618569136455358, 0.4689318897412313, 0.26493361513407915, -0.3932980544421057, 0.28896446820126465, 0.28907222522311654, -0.2889645196910676, 0.28896600011279744, -0.2890834682614894, 0.28896605650900514], "std": [0.03705407080490277, 0.03705454201253944, 3.022131522130034e-05, 1.467183488375004e-05, 2.800801676704837e-06, 5.52066713455595e-05, 0.08933299958540264, 0.189384500484357, 0.16690829445828903, 0.38128679545676536, 0.13856365362417367, 0.19594843873311107, 0.2925163668648681, 0.1708381797032665, 0.1709855395888263, 0.17083821950209283, 0.17083812265617845, 0.1709852590436106, 0.17083817077967978, 0.1813472475527221, 0.1767927786517005, 0.06660049019741711, 0.1659235669083119, 0.1117476307442844, 0.13107570950044697, 0.15840409394821917, 0.14991908732171483, 0.14987356564825396, 0.1499191156065424, 0.14991838145961597, 0.14986885836247082, 0.14991840333791817], "count": [1510]}, "action": {"min": [0.5174471735954285, -1.0287392139434814, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.4951689541339874, -0.14187590777873993, -1.2710607051849365, 0.4592821002006531, -0.5764452815055847, 0.0603828951716423, -0.08114919066429138, 0.019999999552965164, -0.30236274003982544, -0.36082836985588074, 0.9085153341293335, 1.1888997554779053, 0.24823500216007233, 0.011309684254229069, -0.707786500453949, 0.019999999552965164], "max": [0.7457406520843506, -0.8004457950592041, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.1379021406173706, 0.47201868891716003, -0.7055056095123291, 1.617480754852295, -0.07882264256477356, 0.6824261546134949, 0.9066468477249146, 0.5721534490585327, 0.15903866291046143, 0.15379735827445984, 1.1243164539337158, 1.701384425163269, 0.5862863063812256, 0.47304007411003113, -0.15012668073177338, 0.43850773572921753], "mean": [0.7379685871253739, -1.0209671789841936, 0.009007098153233528, 0.7481809258460999, 0.2799195647239685, 0.017286056652665138, -0.28647927230359704, 0.09570485846053142, -0.8905457941112139, 1.2783471133337905, -0.3863706211133903, 0.21281481684241074, 0.6324749488925518, 0.14309630005416885, -0.09648902263771435, -0.17494194712293248, 1.0657055096121024, 1.5620279515815887, 0.4688903354058992, 0.2651202442500716, -0.39330449592790856, 0.2913614011462161], "std": [0.037047019437591325, 0.03704701415469207, 0.0, 0.0, 0.0, 0.0, 0.08902893457769295, 0.18957734430991277, 0.16715227595076337, 0.3812447546686795, 0.1386228057262235, 0.1959993109085803, 0.29246453973858577, 0.17334301340891686, 0.18223960071811593, 0.17674612970766193, 0.06643113916125569, 0.16589022519615615, 0.11179222709724373, 0.13094149255046753, 0.1583991859217968, 0.14888071979502426], "count": [1510]}, "timestamp": {"min": [0.0], "max": [50.29999923706055], "mean": [25.150000000051808], "std": [14.529978588411463], "count": [1510]}, "frame_index": {"min": [0.0], "max": [1509.0], "mean": [754.5], "std": [435.89935765036404], "count": [1510]}, "episode_index": {"min": [54.0], "max": [54.0], "mean": [54.0], "std": [0.0], "count": [1510]}, "index": {"min": [74299.0], "max": [75808.0], "mean": [75053.5], "std": [435.89935765036404], "count": [1510]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1510]}, "physical_index": {"min": [2.0], "max": [2.0], "mean": [2.0], "std": [0.0], "count": [1510]}, "source_case_index": {"min": [19.0], "max": [19.0], "mean": [19.0], "std": [0.0], "count": [1510]}, "appearance_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1510]}, "physical_query_time_s": {"min": [0.0], "max": [50.270000000058005], "mean": [25.14998013245037], "std": [14.529944219977692], "count": [1510]}, "state_time_s": {"min": [0.0], "max": [50.270000000058005], "mean": [25.146649006624887], "std": [14.529943196753287], "count": [1510]}, "command_time_s": {"min": [0.0], "max": [50.270000000058005], "mean": [25.146649006624887], "std": [14.529943196753287], "count": [1510]}, "state_source_index": {"min": [0.0], "max": [5027.0], "mean": [2514.6649006622515], "std": [1452.994319674529], "count": [1510]}, "command_source_index": {"min": [0.0], "max": [100540.0], "mean": [50293.29801324503], "std": [29059.88639349058], "count": [1510]}, "observation.images.cam_high": {"mean": [[[0.5639571281637656]], [[0.5658174535439175]], [[0.5595598176770709]]], "std": [[[0.22037438401446588]], [[0.21971582724948407]], [[0.22424095708406167]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9019607843137255]], [[0.9058823529411765]], [[0.9019607843137255]]], "count": [100]}, "observation.images.cam_left_wrist": {"mean": [[[0.6326625087535014]], [[0.6381336307960684]], [[0.6347839698379352]]], "std": [[[0.16239153452140387]], [[0.1605819694860858]], [[0.16360471378716485]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[1.0]], [[1.0]]], "count": [100]}, "observation.images.cam_right_wrist": {"mean": [[[0.6269501237995199]], [[0.633826207045318]], [[0.6294581809286214]]], "std": [[[0.17441787162054756]], [[0.17062982785368008]], [[0.17441675226993814]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9882352941176471]], [[0.9764705882352941]]], "count": [100]}}}

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/info.json

@@ -4,15 +4,15 @@
   "campaign_id": "s1_heightfit_bgfit_v3_20261017",
   "physical_campaign_id": "s1_heightfit_3x1_20261017",
   "table_baseline_m": 0.8,
-  "total_episodes": 51,
-  "total_frames": 70470,
+  "total_episodes": 55,
+  "total_frames": 75809,
   "total_tasks": 1,
-  "total_videos": 153,
+  "total_videos": 165,
   "total_chunks": 1,
   "chunks_size": 1000,
   "fps": 30,
   "splits": {
-    "train": "0:51"
+    "train": "0:55"
   },
   "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
   "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/source_case_groups.json

@@ -86,6 +86,14 @@
   ],
   "stack_cups_ep000018": [
     48,
-    50
+    50,
+    51
+  ],
+  "stack_cups_ep000019": [
+    52,
+    54
+  ],
+  "stack_cups_ep000020": [
+    53
   ]
 }

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/source_cases.jsonl

@@ -49,3 +49,7 @@
 {"episode_index": 48, "tasks": ["Stack_the_cups_together."], "length": 1456, "start_index": 66072, "source_id": "physical_00__stack_cups_ep000018", "source_case_id": "stack_cups_ep000018", "physical_index": 0, "appearance_index": 0, "source_action_sha256": "eb4fa4c58fc8c3f950f256a2e463efc0a1330fde1498cdea8f55ffad495e085a", "source_episode_sha256": "14f85cec0afece5edd4596d134b2c3d56a3bd07bedd9011fbf3eed8d99160d13", "native_scene_sha256": "492f6e1e5f4d301be34a24280ac1ff085363eedc3e3b923195a5902fd2d15c6f", "raw_actions": "../../episodes/physical_00__stack_cups_ep000018/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000048.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000048.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000048.mp4"}}
 {"episode_index": 49, "tasks": ["Stack_the_cups_together."], "length": 1506, "start_index": 67528, "source_id": "physical_02__stack_cups_ep000017", "source_case_id": "stack_cups_ep000017", "physical_index": 2, "appearance_index": 0, "source_action_sha256": "4e6edcaf20ba67a0d9ed527a20df2fa8ce1e1f9be96a2ab80446e6fcbdda7505", "source_episode_sha256": "455f63dc9ccad1b2eaddb41b4de504b17bff41eb30a8c6dbc8f9c48a6f4bc6d2", "native_scene_sha256": "f77bda7f3f5d579627fd4ca0d0c7f4cf89a8b3289515b621a4af7126cbb5a546", "raw_actions": "../../episodes/physical_02__stack_cups_ep000017/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000049.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000049.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000049.mp4"}}
 {"episode_index": 50, "tasks": ["Stack_the_cups_together."], "length": 1436, "start_index": 69034, "source_id": "physical_02__stack_cups_ep000018", "source_case_id": "stack_cups_ep000018", "physical_index": 2, "appearance_index": 0, "source_action_sha256": "f2f080c9cf464c0277a6b40583c09713036586eba155ae4b6dc160c767734f42", "source_episode_sha256": "69b916d6be38a5e39c24fe6f8dc9ac6e47aa7c0a0cf6c279fba48046f5ed5803", "native_scene_sha256": "cfb79aa50ca19614edad095a73cdc97d7434ed64ea5b0c2390397db193a9ec76", "raw_actions": "../../episodes/physical_02__stack_cups_ep000018/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000050.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000050.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000050.mp4"}}
+{"episode_index": 51, "tasks": ["Stack_the_cups_together."], "length": 1242, "start_index": 70470, "source_id": "physical_01__stack_cups_ep000018", "source_case_id": "stack_cups_ep000018", "physical_index": 1, "appearance_index": 0, "source_action_sha256": "7c24abe5830e6ac4ad78c322e697aea42627d2ecff8a48d4d745ab02e174757b", "source_episode_sha256": "f96f1260039f0db68b23c2720eb9e4214d544667dfcde48b01e1bb901ee904fd", "native_scene_sha256": "fceecd1041bb413ebe6da335ea3bb781175e621d880f83e5feb002cbf564f2be", "raw_actions": "../../episodes/physical_01__stack_cups_ep000018/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000051.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000051.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000051.mp4"}}
+{"episode_index": 52, "tasks": ["Stack_the_cups_together."], "length": 1211, "start_index": 71712, "source_id": "physical_01__stack_cups_ep000019", "source_case_id": "stack_cups_ep000019", "physical_index": 1, "appearance_index": 0, "source_action_sha256": "9e6522f687cffcf8e3ad787fc21c2c45033f00b0111cdc0bcb8ee5ca01f67572", "source_episode_sha256": "e481e28df3c53470bc5b97f1280809c075fb008ddac42f98d25bf89c882b989c", "native_scene_sha256": "a652ecd9b22bc8d42af2dec7109068c90de4d46a564f4056befceded810b8eba", "raw_actions": "../../episodes/physical_01__stack_cups_ep000019/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000052.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000052.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000052.mp4"}}
+{"episode_index": 53, "tasks": ["Stack_the_cups_together."], "length": 1376, "start_index": 72923, "source_id": "physical_01__stack_cups_ep000020", "source_case_id": "stack_cups_ep000020", "physical_index": 1, "appearance_index": 0, "source_action_sha256": "e183e0ab3a4da4deb8d8d7e595777df019c5393ed21c937bce045e1687031d6e", "source_episode_sha256": "386425fea56c3eacd201b65881a347ceb865ee1b132835d54d48d20bd43eb74d", "native_scene_sha256": "238a4178d4bb4671b2fe4d711722828b1df04cd489b685d66e755610a148540c", "raw_actions": "../../episodes/physical_01__stack_cups_ep000020/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000053.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000053.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000053.mp4"}}
+{"episode_index": 54, "tasks": ["Stack_the_cups_together."], "length": 1510, "start_index": 74299, "source_id": "physical_02__stack_cups_ep000019", "source_case_id": "stack_cups_ep000019", "physical_index": 2, "appearance_index": 0, "source_action_sha256": "c58f3635a92890c01db76fb49fc68864985a4c35abc9c1a6b02efaa9b8c57c86", "source_episode_sha256": "c1c2d36e7ebf5559e1c8f7757250fb19385979bc0dedf252537899f12f1ceb84", "native_scene_sha256": "e84ab904e07693981e9200b0d5fa2b7d52dda0c756fc6a1daf8510351133b78a", "raw_actions": "../../episodes/physical_02__stack_cups_ep000019/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000054.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000054.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000054.mp4"}}

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/stats.json

@@ -69,75 +69,75 @@
       0.9143809676170349
     ],
     "mean": [
-      0.7457704679507876,
-      -1.0287690532060318,
-      0.2799382519418337,
-      0.017286342845700246,
-      0.009007139652356881,
-      0.7481805812936989,
-      -0.3575546127070141,
-      0.031653856271062965,
-      -0.8358098372506201,
-      1.2432370020292052,
-      -0.48026872621876926,
-      0.2692326082889986,
-      0.651756470968694,
-      0.09690336237818944,
-      0.09696889028127069,
-      -0.09690340309386261,
-      0.09690291313862881,
-      -0.09696496208960266,
-      0.09690295871965955,
-      -0.056192359846199164,
-      -0.18751974843066735,
-      1.093278418589403,
-      1.4865567965665336,
-      0.5067251691839214,
-      0.2879550453210273,
-      -0.34106608868551624,
-      0.3153549905550393,
-      0.3154257730623156,
-      -0.3153550585808119,
-      0.3153561343628438,
-      -0.3154357517976803,
-      0.31535620807060943
+      0.7486715834091936,
+      -1.031670164268784,
+      0.27993829869442777,
+      0.017286345426619592,
+      0.009007141133815188,
+      0.7481805626193623,
+      -0.3547962342125867,
+      0.03241577821054276,
+      -0.8370790312127089,
+      1.243984744241501,
+      -0.47724673170977444,
+      0.2693996465929498,
+      0.6514147380563229,
+      0.09752468980948445,
+      0.09759033780718364,
+      -0.097524731236748,
+      0.09752422864108627,
+      -0.09758630673101411,
+      0.09752427493250745,
+      -0.06017605371634828,
+      -0.18791942321225882,
+      1.0920331636634277,
+      1.4921764971845621,
+      0.5047902792963834,
+      0.2872031265094162,
+      -0.3440452202955964,
+      0.3149127122860592,
+      0.3149837270216731,
+      -0.3149127801804686,
+      0.31491386596052556,
+      -0.31499376393335254,
+      0.31491393962951847
     ],
     "std": [
-      0.0886628198667665,
-      0.08866291930068851,
-      3.7725887582172895e-05,
-      1.3284974690422072e-05,
-      3.097430786942695e-06,
-      5.921728573596538e-05,
-      0.12126239368458404,
-      0.20107915441840427,
-      0.23889576860001152,
-      0.4147936615763023,
-      0.1393459448245116,
-      0.19395289765431903,
-      0.33457481382611476,
-      0.12098969465132232,
-      0.1210653160400119,
-      0.12098969675247188,
-      0.12098923294903918,
-      0.12106142352890807,
-      0.12098924733545786,
-      0.2422891055704138,
-      0.18205857142011575,
-      0.07669087761572992,
-      0.2753796412184433,
-      0.09941091332543162,
-      0.12811390374102546,
-      0.1686702297222787,
-      0.1392938941864353,
-      0.13926116539148764,
-      0.13929389340567017,
-      0.1392933413597805,
-      0.1392569770015492,
-      0.1392933212502581
+      0.08879583421905247,
+      0.0887959430482148,
+      3.708070543890114e-05,
+      1.317179933277759e-05,
+      3.0750709540569434e-06,
+      5.8825587878888744e-05,
+      0.12008473668852354,
+      0.20097386648776797,
+      0.23822598847906507,
+      0.4151570674631809,
+      0.13879570398099253,
+      0.19366046349857458,
+      0.33456410637998013,
+      0.12154267745858897,
+      0.12162026019875387,
+      0.12154268091329991,
+      0.12154220133330546,
+      0.12161622581959386,
+      0.12154221708429229,
+      0.24116463095415555,
+      0.1829851336563448,
+      0.07628191885739996,
+      0.27277988470916964,
+      0.10054675070748045,
+      0.12738644580151423,
+      0.16786350260028235,
+      0.13932172866294656,
+      0.13928891240905666,
+      0.13932172821218955,
+      0.13932117059399388,
+      0.1392846962882951,
+      0.13932115097098116
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "action": {
@@ -177,7 +177,7 @@
       -0.46810224652290344,
       1.767195224761963,
       -0.06843894720077515,
-      0.702468991279602,
+      0.7027819752693176,
       1.0306819677352905,
       0.9100000262260437,
       0.5470027327537537,
@@ -190,55 +190,55 @@
       0.9100000262260437
     ],
     "mean": [
-      0.7457662901371545,
-      -1.0287649024263654,
-      0.009007098153233528,
+      0.7486673584833081,
+      -1.0316659717850472,
+      0.00900709815323353,
       0.7481809258460999,
       0.27991956472396856,
       0.01728605665266514,
-      -0.35836460395793185,
-      0.031699231822898626,
-      -0.835935194959315,
-      1.243349484568355,
-      -0.4802393937486867,
-      0.2693438813463041,
-      0.6517576855803362,
-      0.0988141141559364,
-      -0.05509317082123092,
-      -0.18768543291761253,
-      1.0937084385388554,
-      1.4867260042197898,
-      0.5066933967941735,
-      0.28813673860114314,
-      -0.3410672428728,
-      0.3178090054039094
+      -0.3556097873936792,
+      0.03245953055442847,
+      -0.8372051337764013,
+      1.2440982874809217,
+      -0.47721752075733204,
+      0.2695125000902897,
+      0.6514160402288312,
+      0.09943261020966433,
+      -0.059079126826275474,
+      -0.1880815977199951,
+      1.092463700417269,
+      1.4923464334446348,
+      0.5047581038357697,
+      0.2873854561223552,
+      -0.3440465439438805,
+      0.31736627779446486
     ],
     "std": [
-      0.0886585086077153,
-      0.08865850603852651,
-      0.0,
+      0.08879144861702878,
+      0.08879144826192495,
+      1.7347234759768067e-18,
       0.0,
-      5.551115123125783e-17,
-      3.469446951953614e-18,
-      0.12130705587534749,
-      0.20122739547685842,
-      0.2389627494875577,
-      0.41472333111305815,
-      0.1393804817969459,
-      0.19398807809471455,
-      0.33456712686628115,
-      0.12318634398833692,
-      0.2433051309278722,
-      0.18194825888305485,
-      0.07668871653609484,
-      0.2752859106954366,
-      0.09944539819561925,
-      0.12803922966194808,
-      0.16866979410902966,
-      0.13821478223876704
+      5.5511151231257815e-17,
+      3.4694469519536134e-18,
+      0.12012502727607376,
+      0.20112168951404885,
+      0.23829582731665785,
+      0.41508559368506115,
+      0.13883082820769085,
+      0.1936981524618005,
+      0.33455646871817124,
+      0.12376213624622825,
+      0.24217485494682547,
+      0.18287738990162158,
+      0.07627437936376921,
+      0.27268600338934185,
+      0.1005816164722771,
+      0.12731212709830883,
+      0.16786289738524524,
+      0.1382447392588945
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "timestamp": {
@@ -249,13 +249,13 @@
       53.63333511352539
     ],
     "mean": [
-      23.16353767528433
+      23.11011709214831
     ],
     "std": [
-      13.557416517931042
+      13.530570796603836
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "frame_index": {
@@ -266,13 +266,13 @@
       1609.0
     ],
     "mean": [
-      694.9061302681993
+      693.3035127755279
     ],
     "std": [
-      406.7224955580373
+      405.91712392026955
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "episode_index": {
@@ -280,16 +280,16 @@
       0.0
     ],
     "max": [
-      50.0
+      54.0
     ],
     "mean": [
-      25.166198382290336
+      27.097626930839343
     ],
     "std": [
-      14.812161712250118
+      15.91465404647714
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "index": {
@@ -297,16 +297,16 @@
       0.0
     ],
     "max": [
-      70469.0
+      75808.0
     ],
     "mean": [
-      35234.5
+      37904.000000000015
     ],
     "std": [
-      20342.93673284825
+      21884.173276594203
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "task_index": {
@@ -323,7 +323,7 @@
       0.0
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "physical_index": {
@@ -334,13 +334,13 @@
       2.0
     ],
     "mean": [
-      1.0343266638285795
+      1.0518276194119431
     ],
     "std": [
-      0.8459115758831542
+      0.8267399321891601
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "source_case_index": {
@@ -348,16 +348,16 @@
       0.0
     ],
     "max": [
-      18.0
+      20.0
     ],
     "mean": [
-      8.747608911593586
+      9.471421599018587
     ],
     "std": [
-      5.43766483316378
+      5.868165104790801
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "appearance_index": {
@@ -374,7 +374,7 @@
       0.0
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "physical_query_time_s": {
@@ -385,13 +385,13 @@
       53.61000000007395
     ],
     "mean": [
-      23.163527032779932
+      23.11010623188982
     ],
     "std": [
-      13.557398789166298
+      13.530552580879354
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "state_time_s": {
@@ -402,13 +402,13 @@
       53.61000000007395
     ],
     "mean": [
-      23.160197814671765
+      23.106777031749626
     ],
     "std": [
-      13.557400617816425
+      13.530554399496937
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "command_time_s": {
@@ -419,13 +419,13 @@
       53.61000000007395
     ],
     "mean": [
-      23.160197814671765
+      23.106777031749626
     ],
     "std": [
-      13.557400617816425
+      13.530554399496937
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "state_source_index": {
@@ -436,13 +436,13 @@
       5361.0
     ],
     "mean": [
-      2316.019781467291
+      2310.6777031750853
     ],
     "std": [
-      1355.7400617813282
+      1353.055439949392
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "command_source_index": {
@@ -453,13 +453,13 @@
       107220.0
     ],
     "mean": [
-      46320.39562934582
+      46213.55406350168
     ],
     "std": [
-      27114.801235626564
+      27061.108798987836
     ],
     "count": [
-      70470
+      75809
     ]
   },
   "observation.images.cam_high": {
@@ -500,39 +500,39 @@
     "mean": [
       [
         [
-          0.561103094255472
+          0.5630098320862436
         ]
       ],
       [
         [
-          0.5631209728529893
+          0.5650346305851884
         ]
       ],
       [
         [
-          0.5569875585344433
+          0.5589725236401378
         ]
       ]
     ],
     "std": [
       [
         [
-          0.2131888477129932
+          0.2131601710796847
         ]
       ],
       [
         [
-          0.2126210271275232
+          0.21257720386460185
         ]
       ],
       [
         [
-          0.21678079145854226
+          0.21675294054342492
         ]
       ]
     ],
     "count": [
-      5100
+      5500
     ]
   },
   "observation.images.cam_left_wrist": {
@@ -573,39 +573,39 @@
     "mean": [
       [
         [
-          0.6373750945231035
+          0.6389598590714695
         ]
       ],
       [
         [
-          0.6430529436192367
+          0.6446197825579096
         ]
       ],
       [
         [
-          0.6400997421486975
+          0.6417141231776802
         ]
       ]
     ],
     "std": [
       [
         [
-          0.16202401837081426
+          0.1619955616011386
         ]
       ],
       [
         [
-          0.16010244744169969
+          0.16008011287189752
         ]
       ],
       [
         [
-          0.16232339703897153
+          0.16231635498086022
         ]
       ]
     ],
     "count": [
-      5100
+      5500
     ]
   },
   "observation.images.cam_right_wrist": {
@@ -646,39 +646,39 @@
     "mean": [
       [
         [
-          0.6283306585961591
+          0.6297954501260732
         ]
       ],
       [
         [
-          0.635735208973295
+          0.6371908676680902
         ]
       ],
       [
         [
-          0.6315469375556597
+          0.6330576907467531
         ]
       ]
     ],
     "std": [
       [
         [
-          0.1760644989696831
+          0.17582955084478916
         ]
       ],
       [
         [
-          0.17167877121165226
+          0.1714344244836255
         ]
       ],
       [
         [
-          0.1754233937332933
+          0.17518226050773475
         ]
       ]
     ],
     "count": [
-      5100
+      5500
     ]
   }
 }

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000051.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ba7b61fd2698df8f2853d6c98227350676765c8655f3fb62ea34eacabc1413
+size 468961

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000052.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf419ba83b2ab22d468d47e87c1b6e6236f51e266ebac81f46074b259c2c70c7
+size 451083

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000053.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3abb0813a99894de299077d9313e31ced35a69afb3dab995df501e80c4a23088
+size 507501

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_high/episode_000054.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273854469fb33e6ca8738478a7e494df7c9b610d896c15db120d9f600e9dc8e5
+size 543235

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000051.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351b46157bd7294ae51ce2608e2409ebb93bb558878ce486416dfdeb9eab6a4d
+size 359204

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000052.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9756e695efe0dad9769098ba8128b9dcf10a35151b72990a40a33ee74f0bc1c
+size 388161

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000053.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6681b7e09528a116bafc02819aec4730bd192289e16f41cf29d91d3f8eed3c
+size 421575

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_left_wrist/episode_000054.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8749db08b0b92140a007394d0b52345f5c96df6941c07cf872d0c64a0a841cfa
+size 512957

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000051.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b1578f6364894c87291537e5661a0ae4f0d22cb853919622e4d7184e9056455
+size 389912

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000052.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ff3ad715964aec0e4aad93d5d167e5662fce92f837740783a48527b93ec45b
+size 427802

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000053.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49551357a3ef803f4ec3f95b8627ceecb60a3d684a70dbdf30d373e749cb9cff
+size 436204

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/videos/chunk-000/observation.images.cam_right_wrist/episode_000054.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202bd9d958b3d7abefd465df243af86aedcce5d7ac0b427355d91f1a378e1553
+size 521635

150case_data_enhance_blender_v2/episodes/physical_01__stack_cups_ep000018/actions_30fps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c24abe5830e6ac4ad78c322e697aea42627d2ecff8a48d4d745ab02e174757b
+size 2142946

150case_data_enhance_blender_v2/episodes/physical_01__stack_cups_ep000018/verification.json

@@ -0,0 +1,1156 @@
+{
+  "schema": "rssr.s1_bgfit.verified_episode.v1",
+  "source_id": "physical_01__stack_cups_ep000018",
+  "source_case_id": "stack_cups_ep000018",
+  "campaign_id": "s1_heightfit_bgfit_v3_20261017",
+  "physical_campaign_id": "s1_heightfit_3x1_20261017",
+  "table_baseline_m": 0.8,
+  "table_height_delta_m": 0.004274189130781217,
+  "table_height_m": 0.8042741891307813,
+  "asset_dependencies": {
+    "textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe"
+  },
+  "physical_index": 1,
+  "appearance_index": 0,
+  "episode_index": 51,
+  "native_pins": {
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/receipt.json": "446090227d2a5c1770002af5a1daae4dc488e63962d2f2049772999a06b51e37",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000018/source.json": "46edfe016331380b2d459bf713b94466597f1d6bd688f189b30cf8905b387067",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/physical_augmentation.json": "9bdbac0393259d10f0bf925eec0390f2bb2bf7eddb4486913b533347365a8eb8",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_01__stack_cups_ep000018.json": "2980783e74eef837c7c39f1b5b019bf92310dd93a8cdb3713199826863186c1f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/execute/scene.xml": "fceecd1041bb413ebe6da335ea3bb781175e621d880f83e5feb002cbf564f2be",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/execute/rollout.npz": "328320fc644803c1f259f5aff40c89ee14f2cc15dcb54576b1b0f13fc8b1bd2b",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/issued_robot_commands.npz": "a22330fea728d280dbab009f0bb43e73474a7552dce096539d17f9c7f8ceca3a",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/replay/rollout.npz": "328320fc644803c1f259f5aff40c89ee14f2cc15dcb54576b1b0f13fc8b1bd2b",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/execute/immutable_hard_trace.npz": "5ae329dc88fbffc69c005fa4a7478bd1775aea46acf584ab44ea75e40c3b9e9e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/replay/immutable_hard_trace.npz": "5ae329dc88fbffc69c005fa4a7478bd1775aea46acf584ab44ea75e40c3b9e9e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000018/actions_30fps.npz": "7c24abe5830e6ac4ad78c322e697aea42627d2ecff8a48d4d745ab02e174757b",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000018/poses.npz": "4038d1773794c9f8c096744fbef3f7644701c499dd7571e13014416a071949bd",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000018/head_rgbd.mp4": "94ba7b61fd2698df8f2853d6c98227350676765c8655f3fb62ea34eacabc1413",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000018/left_wrist_rgbd.mp4": "351b46157bd7294ae51ce2608e2409ebb93bb558878ce486416dfdeb9eab6a4d",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000018/right_wrist_rgbd.mp4": "6b1578f6364894c87291537e5661a0ae4f0d22cb853919622e4d7184e9056455",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_contract.json": "fda6e0c04bbc2820f553586f92dbdfe2e2b7299e5f414e1722f74bd7579d23cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/request.json": "5beacd304afb949d370bfec6d2475b52c132b23c043258f2da86071fa550c39e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_config.json": "225f2eb4dc211b7ce0ea43c6858e88775f050db996c0b0d3ae325d4398fd6174",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/runs.json": "88c732d21375d974b536d8fcfa72f4f41d7bf2477c4ffab212defe85af9b88c6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/measured_cups.blend": "b1350ea0a701d335e4a10d3a4f62544a3c11892ff091d36531b50f6e504453df",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/camera_alignment.json": "2cca58b4cdd8a02c21e44812c9e487d96ce794640a1d267654c7abcca74d96cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/asset_manifest.json": "7351b4041a6284d26077a3ea1b918656fa611ae6725f39df65f418b51e673076",
+    "/pfs/yichen/desk_scene.blend": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/renderer.py": "af41dbfc2e7dc4dab4f9a930395d23c1db020152ab350d0ae7ec7cf0a0d626c5",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/camera.py": "921a8ad6184089db101a04ed47d3fa29b5bae7ec3964778de2d7b1e04e88c64f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/environment.py": "0298d1f7846bafcd3e83d58824ee520608045ffb544368a4450e47c850ad3a8f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/export_source.py": "d01ebb92636b695578555a4f3d9dd3a1c2a957d1ed582067546e59c9a83e8e27",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/run_task.py": "43148ad9484faf2a79fef1ef022c007d6ad5cf524913c83fd91d188520fcbfbc",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/assemble.py": "9f8643b65da8620bf7629f680c78170155a957f8c3bc524f8b2eed84efadafad",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/campaign.py": "3bd19b602dcb1dc74d676c063540fa5c0427383bbf6586676d2fbcb7ffa5e06c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/resources.py": "dd15deab337f38835bf225293a04bc7d453cca028b3c8132009c92ac3744312f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/dispatcher.py": "41c9a464dd1d0ef5976e681c752680f93a23ca9e41d75907b14cfd40c97ea532",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/transport.py": "16b3180afe0607c8903ae83e2172512188b50d2a53f0d7e9c0d5e62065cbf058",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/cup_library.py": "5ca7a887ce214eec690580bc82edeb7553e1b38c548bc3996694fc81156c056e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/make_scene.py": "a8c4939aa6a30775e33d34ed565c3cb4835ff8c34e3b453c587ed4d1a7ff7eb6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/source_arrays.py": "fad9b79aa5ec8a121667ea14240fb48cf30e254b9072328af0defe3501284c59",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/asset_library.py": "725dcddca5a14a6645fefa169325257d2ec09d634b24cfc38a59f7ee88c5939d"
+  },
+  "action_columns": [
+    {
+      "index": 0,
+      "name": "astribot_torso_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_1",
+      "actuator_name": "astribot_torso_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 1,
+      "name": "astribot_torso_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_2",
+      "actuator_name": "astribot_torso_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 2,
+      "name": "astribot_head_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_1",
+      "actuator_name": "astribot_head_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 3,
+      "name": "astribot_head_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_2",
+      "actuator_name": "astribot_head_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 4,
+      "name": "astribot_torso_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_3",
+      "actuator_name": "astribot_torso_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 5,
+      "name": "astribot_torso_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_4",
+      "actuator_name": "astribot_torso_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 6,
+      "name": "astribot_arm_left_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_1",
+      "actuator_name": "astribot_arm_left_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 7,
+      "name": "astribot_arm_left_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_2",
+      "actuator_name": "astribot_arm_left_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 8,
+      "name": "astribot_arm_left_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_3",
+      "actuator_name": "astribot_arm_left_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 9,
+      "name": "astribot_arm_left_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_4",
+      "actuator_name": "astribot_arm_left_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 10,
+      "name": "astribot_arm_left_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_5",
+      "actuator_name": "astribot_arm_left_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 11,
+      "name": "astribot_arm_left_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_6",
+      "actuator_name": "astribot_arm_left_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 12,
+      "name": "astribot_arm_left_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_7",
+      "actuator_name": "astribot_arm_left_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 13,
+      "name": "astribot_gripper_left_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_left_joint_L1",
+      "actuator_name": "astribot_gripper_left_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_left_split",
+      "coupled_target_joints": [
+        "astribot_gripper_left_joint_R1",
+        "astribot_gripper_left_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    },
+    {
+      "index": 14,
+      "name": "astribot_arm_right_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_1",
+      "actuator_name": "astribot_arm_right_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 15,
+      "name": "astribot_arm_right_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_2",
+      "actuator_name": "astribot_arm_right_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 16,
+      "name": "astribot_arm_right_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_3",
+      "actuator_name": "astribot_arm_right_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 17,
+      "name": "astribot_arm_right_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_4",
+      "actuator_name": "astribot_arm_right_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 18,
+      "name": "astribot_arm_right_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_5",
+      "actuator_name": "astribot_arm_right_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 19,
+      "name": "astribot_arm_right_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_6",
+      "actuator_name": "astribot_arm_right_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 20,
+      "name": "astribot_arm_right_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_7",
+      "actuator_name": "astribot_arm_right_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 21,
+      "name": "astribot_gripper_right_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_right_joint_L1",
+      "actuator_name": "astribot_gripper_right_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_right_split",
+      "coupled_target_joints": [
+        "astribot_gripper_right_joint_R1",
+        "astribot_gripper_right_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    }
+  ],
+  "state_projection": {
+    "names": [
+      "astribot_torso_joint_1",
+      "astribot_torso_joint_2",
+      "astribot_torso_joint_3",
+      "astribot_torso_joint_4",
+      "astribot_head_joint_1",
+      "astribot_head_joint_2",
+      "astribot_arm_left_joint_1",
+      "astribot_arm_left_joint_2",
+      "astribot_arm_left_joint_3",
+      "astribot_arm_left_joint_4",
+      "astribot_arm_left_joint_5",
+      "astribot_arm_left_joint_6",
+      "astribot_arm_left_joint_7",
+      "astribot_gripper_left_joint_L1",
+      "astribot_gripper_left_joint_L11",
+      "astribot_gripper_left_joint_L2",
+      "astribot_gripper_left_joint_R1",
+      "astribot_gripper_left_joint_R11",
+      "astribot_gripper_left_joint_R2",
+      "astribot_arm_right_joint_1",
+      "astribot_arm_right_joint_2",
+      "astribot_arm_right_joint_3",
+      "astribot_arm_right_joint_4",
+      "astribot_arm_right_joint_5",
+      "astribot_arm_right_joint_6",
+      "astribot_arm_right_joint_7",
+      "astribot_gripper_right_joint_L1",
+      "astribot_gripper_right_joint_L11",
+      "astribot_gripper_right_joint_L2",
+      "astribot_gripper_right_joint_R1",
+      "astribot_gripper_right_joint_R11",
+      "astribot_gripper_right_joint_R2"
+    ],
+    "qpos_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31
+    ],
+    "units": [
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad"
+    ],
+    "nq": 46,
+    "nv": 44,
+    "nu": 22
+  },
+  "source_episode_sha256": "f96f1260039f0db68b23c2720eb9e4214d544667dfcde48b01e1bb901ee904fd",
+  "native_task_success": true,
+  "independent_rollout_and_hard_trace_exact": true,
+  "original_action_state_samples_exact": true,
+  "terminal_state_included": true,
+  "camera_clocks_fully_decoded": true,
+  "hardware_sdk_ready": false,
+  "renderer_episode": {
+    "source_id": "physical_01__stack_cups_ep000018",
+    "case_id": "stack_cups_ep000018",
+    "physical_index": 1,
+    "appearance_index": 0,
+    "attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00",
+    "native_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00",
+    "native_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/receipt.json",
+    "native_receipt_sha256": "446090227d2a5c1770002af5a1daae4dc488e63962d2f2049772999a06b51e37",
+    "native_scene": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000018/attempt_00/execute/scene.xml",
+    "native_scene_sha256": "fceecd1041bb413ebe6da335ea3bb781175e621d880f83e5feb002cbf564f2be",
+    "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000018",
+    "config": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_01__stack_cups_ep000018.json",
+    "frames": 1242,
+    "fps": 30,
+    "support_passed": true,
+    "lighting_seed": 1291038462,
+    "status": "verified_complete",
+    "videos": {
+      "head_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1242",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000018/head_rgbd.mp4",
+        "sha256": "94ba7b61fd2698df8f2853d6c98227350676765c8655f3fb62ea34eacabc1413",
+        "bytes": 468961,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "left_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1242",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000018/left_wrist_rgbd.mp4",
+        "sha256": "351b46157bd7294ae51ce2608e2409ebb93bb558878ce486416dfdeb9eab6a4d",
+        "bytes": 359204,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "right_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1242",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000018/right_wrist_rgbd.mp4",
+        "sha256": "6b1578f6364894c87291537e5661a0ae4f0d22cb853919622e4d7184e9056455",
+        "bytes": 389912,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      }
+    },
+    "actions": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000018/actions_30fps.npz",
+    "action_sha256": "7c24abe5830e6ac4ad78c322e697aea42627d2ecff8a48d4d745ab02e174757b",
+    "completed_at": "2026-10-17T00:11:12.054975+00:00",
+    "resolution": [
+      224,
+      224
+    ],
+    "source_asset_sha256": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "asset_blend": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend",
+    "render_config_sha256": "2980783e74eef837c7c39f1b5b019bf92310dd93a8cdb3713199826863186c1f",
+    "source_original_asset_sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "source_json_sha256": "46edfe016331380b2d459bf713b94466597f1d6bd688f189b30cf8905b387067",
+    "complete_terminal_state_included": true,
+    "causal_action_clock_verified": true,
+    "lighting_recipe": {
+      "seed": 1291038462,
+      "lights": [
+        {
+          "name": "Alignment / lower panel indirect fill",
+          "position_m": [
+            0.12037057207910884,
+            0.46508668465961234,
+            0.6413043352740131
+          ],
+          "target_m": [
+            -0.08936825366459317,
+            0.6268857061281449,
+            2.6641454039445565
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / broad left office softbox",
+          "position_m": [
+            1.4325620081310677,
+            0.8838430253138029,
+            2.988330847018524
+          ],
+          "target_m": [
+            0.37700059633366134,
+            0.17005410193302126,
+            1.2691570343577545
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / ceiling bounce",
+          "position_m": [
+            -0.06739401126693809,
+            0.602898023907468,
+            2.5459695994806713
+          ],
+          "target_m": [
+            0.09170615325075465,
+            0.17511611426787932,
+            0.6540298734202183
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / soft camera-side fill",
+          "position_m": [
+            0.6040493950360575,
+            -2.4253322117512726,
+            1.9804694790116377
+          ],
+          "target_m": [
+            0.07200161488591747,
+            -0.6890295755202679,
+            0.9113503319514954
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / low room bounce",
+          "position_m": [
+            -0.19162122666997006,
+            -0.7248486428726449,
+            0.807964798569385
+          ],
+          "target_m": [
+            -0.019915732586990115,
+            1.123707969031003,
+            0.9817924244792048
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        }
+      ],
+      "added_lights": [
+        {
+          "name": "s1_heightfit_added_0",
+          "position_m": [
+            0.1611581343415469,
+            -0.5140010905635573,
+            1.9477459367763885
+          ],
+          "target_m": [
+            -0.09131921526456926,
+            0.06174179831678106,
+            0.8042741891307813
+          ],
+          "power_w": 18.54197335478429,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_m": 1.7419968977908171
+        }
+      ]
+    },
+    "camera_alignment": {
+      "schema": "rssr.s1_heightfit.camera_alignment.v2",
+      "experiment": "s1_heightfit_3x1_20261017",
+      "status": "aligned",
+      "production_ready": true,
+      "table_baseline_m": 0.8,
+      "table_baseline": {
+        "top_z_m": 0.8,
+        "center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "half_xy_m": [
+          0.6,
+          0.3
+        ]
+      },
+      "height_authorization": "User explicitly requested changing tabletop height to achieve alignment; original0.95m is superseded for this simulator campaign.",
+      "height_selection": "0.80m balances approximate reference alignment and a collision-free0.75–0.85m augmentation envelope; fitted hardware height is not claimed.",
+      "cameras": {
+        "head_rgbd": {
+          "pos": [
+            0.022619845171147547,
+            -0.2400460318505255,
+            -0.045246823885230464
+          ],
+          "quat": [
+            0.08606233952483466,
+            0.7114492396588586,
+            0.07501575505710205,
+            -0.6934016798346807
+          ],
+          "fovy": 46.68734463653697,
+          "reference_fovy_deg": 46.68734463653697,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 74.99365341164304,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "parent_body": "astribot_head_link_2",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": -0.55
+        },
+        "left_wrist_rgbd": {
+          "pos": [
+            0.006744568667666906,
+            0.1464328753067978,
+            0.07665232327016308
+          ],
+          "quat": [
+            0.009566690715288284,
+            0.034474550449605006,
+            0.685282734400536,
+            0.7273977988230236
+          ],
+          "fovy": 54.222198704777604,
+          "reference_fovy_deg": 54.222198704777604,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 84.61501072235728,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            0.3199734618889353,
+            -0.3866329842091521,
+            1.0029182651508828
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9978976766778948,
+              -5.012789991490314e-05,
+              0.0648091379980808
+            ],
+            [
+              0.06407827207165417,
+              -0.15052229818248108,
+              0.9865277557160651
+            ],
+            [
+              0.009705767830094898,
+              0.9886066129846891,
+              0.15020906375372425
+            ]
+          ],
+          "parent_body": "arm_left_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.65
+        },
+        "right_wrist_rgbd": {
+          "pos": [
+            -0.005538238890151263,
+            0.1613074787955398,
+            0.0736131169684578
+          ],
+          "quat": [
+            -0.02961458926172238,
+            -0.056056253908770524,
+            0.7044950778034461,
+            0.7068715285335033
+          ],
+          "fovy": 48.45549063590859,
+          "reference_fovy_deg": 48.45549063590859,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 77.31961650818052,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.28734405752041364,
+            -0.32887338433762514,
+            1.0166738161950089
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9749519204965966,
+              -0.03394800964694158,
+              -0.2198096571149888
+            ],
+            [
+              -0.21120833263148694,
+              -0.16844800897741388,
+              0.9628168613493286
+            ],
+            [
+              -0.06971221519235292,
+              0.9851257792345891,
+              0.15705860734266947
+            ]
+          ],
+          "parent_body": "arm_right_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.5
+        }
+      },
+      "source_environment": {
+        "path": "/pfs/yichen/desk_scene.blend",
+        "sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16"
+      },
+      "references": {
+        "head": {
+          "path": "/pfs/yichen/head.png",
+          "sha256": "2dea8a4d875d54d3052aa772adde64412b8dff43adb9289fcced03a00215c4fe"
+        },
+        "left": {
+          "path": "/pfs/yichen/left.png",
+          "sha256": "b8635e72558abe414d9091bd3ff1bc6bb9eae680cf34922ed27f7b762760ae4c"
+        },
+        "right": {
+          "path": "/pfs/yichen/right.png",
+          "sha256": "df70afbbcc6819caf439b852e756edd28ed28e911520ba843641b6d1ef4bbb33"
+        }
+      },
+      "initial_pose": {
+        "path": "/pfs/yichen/s1_current_pose_20261016_230445.json",
+        "sha256": "4bcbb1eed890d72f8020ab81374200422e9920e7239bfb0ea40a4cb009be3d4b",
+        "all20_head_torso4_arm_joint_angles_preserved": true,
+        "sdk_gripper_mapping": "Nominal0=open100=closed -> remaining geometric aperture; hardware calibration unavailable."
+      },
+      "shared_room_fit": {
+        "schema": "rssr.s1.shared_room_camera_fit.v1",
+        "tabletop_z_m": 0.8,
+        "wall_y_m": 0.365223429825541,
+        "seam_x_m": [
+          -0.6149551180056824,
+          0.44059396623138153
+        ],
+        "success": true,
+        "wrists": {
+          "left_wrist_rgbd": {
+            "position_native_world_m": [
+              0.3199734618889353,
+              -0.3866329842091521,
+              1.0029182651508828
+            ],
+            "rotation_native_world": [
+              [
+                -0.9978976766778948,
+                -5.012789991490314e-05,
+                0.0648091379980808
+              ],
+              [
+                0.06407827207165417,
+                -0.15052229818248108,
+                0.9865277557160651
+              ],
+              [
+                0.009705767830094898,
+                0.9886066129846891,
+                0.15020906375372425
+              ]
+            ],
+            "reference_fovy_deg": 54.222198704777604,
+            "focal_px": 351.5828765549533
+          },
+          "right_wrist_rgbd": {
+            "position_native_world_m": [
+              -0.28734405752041364,
+              -0.32887338433762514,
+              1.0166738161950089
+            ],
+            "rotation_native_world": [
+              [
+                -0.9749519204965966,
+                -0.03394800964694158,
+                -0.2198096571149888
+              ],
+              [
+                -0.21120833263148694,
+                -0.16844800897741388,
+                0.9628168613493286
+              ],
+              [
+                -0.06971221519235292,
+                0.9851257792345891,
+                0.15705860734266947
+              ]
+            ],
+            "reference_fovy_deg": 48.45549063590859,
+            "focal_px": 399.9999999999977
+          }
+        },
+        "head_fit": {
+          "schema": "rssr.s1.heightfit.head.v1",
+          "tabletop_z_m": 0.8000000099999999,
+          "table_center_xy_m": [
+            -0.028675198314140744,
+            -0.7152676486019908
+          ],
+          "table_half_xy_m": [
+            0.6,
+            0.3
+          ],
+          "cup_centers_xy_m": [
+            [
+              0.2649023407571988,
+              -0.7247601502042893
+            ],
+            [
+              -0.2601612665026171,
+              -0.6654370645044115
+            ]
+          ],
+          "camera_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "camera_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "reference_fovy_deg": 46.68734463653697,
+          "focal_px": 834.1598929781229,
+          "optimizer_success": true,
+          "cost": 20.05235807868658,
+          "head_camera_translation_from_previous_native_m": [
+            -0.017806766651739234,
+            0.009488446576838838,
+            0.04476816414466045
+          ],
+          "hand_landmarks_approx_px": [
+            [
+              208.0,
+              483.0
+            ],
+            [
+              297.0,
+              491.0
+            ],
+            [
+              894.0,
+              553.0
+            ],
+            [
+              987.0,
+              557.0
+            ]
+          ],
+          "hand_projection_px": [
+            [
+              201.9607084551119,
+              472.97423212126085
+            ],
+            [
+              296.23254453113276,
+              479.43942855616905
+            ],
+            [
+              903.3472168857206,
+              563.8407002841916
+            ],
+            [
+              985.5307315500208,
+              560.5886774204085
+            ]
+          ],
+          "hand_pixel_rms": 7.835444032514649,
+          "residual": [
+            -0.45012517991762024,
+            1.377035062873991,
+            0.34848196266587667,
+            0.6801771351374649,
+            -0.5310568309142119,
+            -0.6919193704735807,
+            -0.655834570057948,
+            0.6298907745122335,
+            1.9109891226887186,
+            2.9705251337873335,
+            2.0561068064276165,
+            -3.2570115064834604,
+            -0.917470603454016,
+            0.4563487144657188,
+            0.642519886373492,
+            1.9382877526186917,
+            3.2255123270471415,
+            -0.9474025319959006,
+            -5.775717912737321,
+            -0.6715152992222025,
+            -0.5032742954073418,
+            -0.8354806565615954,
+            -0.06395462240560335,
+            -0.9633809536525794,
+            0.778934740476719,
+            0.9033916903492999,
+            -0.12243903749826283,
+            0.299056451700712,
+            -0.17806766651739234,
+            0.09488446576838838,
+            0.4476816414466045,
+            -0.14337599157070371,
+            0.17366175699004616,
+            0.12289973244530727
+          ],
+          "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+          "limitations": [
+            "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+            "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+          ]
+        },
+        "shared_world": true,
+        "method": "Cup rim/base, shared table back edge and shared vertical wall seam lines; fixed measured robot kinematics.",
+        "fit_revision": "Shared82cm fit followed by user-authorized80cm table-height refinement; wrist cameras translated with cup/table geometry to lift fixed robot foreground into reference frame. Right seam adjusted+7cm based on shared three-view render review.",
+        "initial_shared_fit_cost": 74.80530488066681
+      },
+      "head_fit": {
+        "schema": "rssr.s1.heightfit.head.v1",
+        "tabletop_z_m": 0.8000000099999999,
+        "table_center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "table_half_xy_m": [
+          0.6,
+          0.3
+        ],
+        "cup_centers_xy_m": [
+          [
+            0.2649023407571988,
+            -0.7247601502042893
+          ],
+          [
+            -0.2601612665026171,
+            -0.6654370645044115
+          ]
+        ],
+        "camera_world_position_m": [
+          -0.04029723767845193,
+          -0.2581808797104311,
+          1.5504909827914213
+        ],
+        "camera_world_rotation": [
+          [
+            -0.9984142280986754,
+            0.04085612642488199,
+            -0.03872732967401701
+          ],
+          [
+            -0.05556244110544098,
+            -0.8257494397412113,
+            0.5612937536669012
+          ],
+          [
+            -0.009046782219681242,
+            0.5625554547781308,
+            0.8267100556004142
+          ]
+        ],
+        "reference_fovy_deg": 46.68734463653697,
+        "focal_px": 834.1598929781229,
+        "optimizer_success": true,
+        "cost": 20.05235807868658,
+        "head_camera_translation_from_previous_native_m": [
+          -0.017806766651739234,
+          0.009488446576838838,
+          0.04476816414466045
+        ],
+        "hand_landmarks_approx_px": [
+          [
+            208.0,
+            483.0
+          ],
+          [
+            297.0,
+            491.0
+          ],
+          [
+            894.0,
+            553.0
+          ],
+          [
+            987.0,
+            557.0
+          ]
+        ],
+        "hand_projection_px": [
+          [
+            201.9607084551119,
+            472.97423212126085
+          ],
+          [
+            296.23254453113276,
+            479.43942855616905
+          ],
+          [
+            903.3472168857206,
+            563.8407002841916
+          ],
+          [
+            985.5307315500208,
+            560.5886774204085
+          ]
+        ],
+        "hand_pixel_rms": 7.835444032514649,
+        "residual": [
+          -0.45012517991762024,
+          1.377035062873991,
+          0.34848196266587667,
+          0.6801771351374649,
+          -0.5310568309142119,
+          -0.6919193704735807,
+          -0.655834570057948,
+          0.6298907745122335,
+          1.9109891226887186,
+          2.9705251337873335,
+          2.0561068064276165,
+          -3.2570115064834604,
+          -0.917470603454016,
+          0.4563487144657188,
+          0.642519886373492,
+          1.9382877526186917,
+          3.2255123270471415,
+          -0.9474025319959006,
+          -5.775717912737321,
+          -0.6715152992222025,
+          -0.5032742954073418,
+          -0.8354806565615954,
+          -0.06395462240560335,
+          -0.9633809536525794,
+          0.778934740476719,
+          0.9033916903492999,
+          -0.12243903749826283,
+          0.299056451700712,
+          -0.17806766651739234,
+          0.09488446576838838,
+          0.4476816414466045,
+          -0.14337599157070371,
+          0.17366175699004616,
+          0.12289973244530727
+        ],
+        "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+        "limitations": [
+          "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+          "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+        ]
+      },
+      "limitations": [
+        "Visual pinhole and material/geometry reconstruction, not hardware camera calibration.",
+        "Manual cup/finger/wall landmarks and source camera distortion limit exact pixel matching.",
+        "All three sensors render the same shared room geometry/materials and world lights.",
+        "Cup height9cm and bottom5.85cm remain documented priors."
+      ],
+      "camera_response_note": "Fixed per-camera exposure estimates model different sensor captures; room geometry/materials/lights remain shared.",
+      "render_policy": "Reference16:9 previews; production224square expands vertical coverage preserving horizontal FOV, no padding or deformation.",
+      "visual_review": {
+        "method": "Agent inspected all3 final64-sample reference views against supplied photos; shared room geometry and fixed parent mounts accepted as approximate visual alignment.",
+        "hardware_camera_calibration": false,
+        "reviewed_reference_samples": 64,
+        "tabletop_baseline_m": 0.8,
+        "preview_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/room_review_final80_64/preview_receipt.json",
+        "preview_receipt_sha256": "2e2d699bf79e73d82c07118814d1fc0669b465b6bd415c4278310cfdedef6ad0",
+        "strict_idle_b200_verification": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/diagnostics/gpu_preflight_1792175018743286715/verification.json",
+        "strict_idle_b200_verification_sha256": "f35bdf0f81c73bd6a96d5460e6a17eea28ea3b87ccd7db2ffa7984109eecb350",
+        "source_pose_joint_values_unchanged": true,
+        "limitations_preserved": true
+      }
+    },
+    "hardware_sdk_ready": false,
+    "assembly_revision": "uniform_decode_timestamps_v4_no_picture_reencoding"
+  }
+}

150case_data_enhance_blender_v2/episodes/physical_01__stack_cups_ep000019/actions_30fps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6522f687cffcf8e3ad787fc21c2c45033f00b0111cdc0bcb8ee5ca01f67572
+size 2093849

150case_data_enhance_blender_v2/episodes/physical_01__stack_cups_ep000019/verification.json

@@ -0,0 +1,1176 @@
+{
+  "schema": "rssr.s1_bgfit.verified_episode.v1",
+  "source_id": "physical_01__stack_cups_ep000019",
+  "source_case_id": "stack_cups_ep000019",
+  "campaign_id": "s1_heightfit_bgfit_v3_20261017",
+  "physical_campaign_id": "s1_heightfit_3x1_20261017",
+  "table_baseline_m": 0.8,
+  "table_height_delta_m": -0.035353932718346526,
+  "table_height_m": 0.7646460672816535,
+  "asset_dependencies": {
+    "textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe"
+  },
+  "physical_index": 1,
+  "appearance_index": 0,
+  "episode_index": 52,
+  "native_pins": {
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/receipt.json": "95d37f5cf70b0ab17807bb5d5c269d226445f9efb1c61881a2fa468cdac2093e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000019/source.json": "a56559d4bedc39fe2d72030a1d33b3af1fe8ab671ec6b9deb4b2df497e1ea1f8",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/physical_augmentation.json": "b180983b449662b43e7158ca32b80c9205debbe3c60827e2068efacae9580281",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_01__stack_cups_ep000019.json": "6e84c1407fdca2367f4acf1e77d93725100c2ec26172253f7dfcada20c3cbc85",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/execute/scene.xml": "a652ecd9b22bc8d42af2dec7109068c90de4d46a564f4056befceded810b8eba",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/execute/rollout.npz": "0cd8399b323068bb707ca3ef69954e3da894329436859a4cb7de780be3bea200",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/issued_robot_commands.npz": "49cc0e5cfb6aa1014dbab8e38a4f206aa8c8d51fe5caee4ad9d4a25903569977",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/replay/rollout.npz": "0cd8399b323068bb707ca3ef69954e3da894329436859a4cb7de780be3bea200",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/execute/immutable_hard_trace.npz": "bf0837365a537a417ef4cedf4e4299eadc21cad45e0b31513fc94fa9fb0a97af",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/replay/immutable_hard_trace.npz": "bf0837365a537a417ef4cedf4e4299eadc21cad45e0b31513fc94fa9fb0a97af",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000019/actions_30fps.npz": "9e6522f687cffcf8e3ad787fc21c2c45033f00b0111cdc0bcb8ee5ca01f67572",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000019/poses.npz": "74315253b4b44ee0f20f08c040effd8210817d69255367c76e4b05ea463f3755",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000019/head_rgbd.mp4": "cf419ba83b2ab22d468d47e87c1b6e6236f51e266ebac81f46074b259c2c70c7",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000019/left_wrist_rgbd.mp4": "b9756e695efe0dad9769098ba8128b9dcf10a35151b72990a40a33ee74f0bc1c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000019/right_wrist_rgbd.mp4": "57ff3ad715964aec0e4aad93d5d167e5662fce92f837740783a48527b93ec45b",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_contract.json": "fda6e0c04bbc2820f553586f92dbdfe2e2b7299e5f414e1722f74bd7579d23cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/request.json": "5beacd304afb949d370bfec6d2475b52c132b23c043258f2da86071fa550c39e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_config.json": "225f2eb4dc211b7ce0ea43c6858e88775f050db996c0b0d3ae325d4398fd6174",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/runs.json": "88c732d21375d974b536d8fcfa72f4f41d7bf2477c4ffab212defe85af9b88c6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/measured_cups.blend": "b1350ea0a701d335e4a10d3a4f62544a3c11892ff091d36531b50f6e504453df",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/camera_alignment.json": "2cca58b4cdd8a02c21e44812c9e487d96ce794640a1d267654c7abcca74d96cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/asset_manifest.json": "7351b4041a6284d26077a3ea1b918656fa611ae6725f39df65f418b51e673076",
+    "/pfs/yichen/desk_scene.blend": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/renderer.py": "af41dbfc2e7dc4dab4f9a930395d23c1db020152ab350d0ae7ec7cf0a0d626c5",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/camera.py": "921a8ad6184089db101a04ed47d3fa29b5bae7ec3964778de2d7b1e04e88c64f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/environment.py": "0298d1f7846bafcd3e83d58824ee520608045ffb544368a4450e47c850ad3a8f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/export_source.py": "d01ebb92636b695578555a4f3d9dd3a1c2a957d1ed582067546e59c9a83e8e27",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/run_task.py": "43148ad9484faf2a79fef1ef022c007d6ad5cf524913c83fd91d188520fcbfbc",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/assemble.py": "9f8643b65da8620bf7629f680c78170155a957f8c3bc524f8b2eed84efadafad",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/campaign.py": "3bd19b602dcb1dc74d676c063540fa5c0427383bbf6586676d2fbcb7ffa5e06c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/resources.py": "dd15deab337f38835bf225293a04bc7d453cca028b3c8132009c92ac3744312f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/dispatcher.py": "41c9a464dd1d0ef5976e681c752680f93a23ca9e41d75907b14cfd40c97ea532",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/transport.py": "16b3180afe0607c8903ae83e2172512188b50d2a53f0d7e9c0d5e62065cbf058",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/cup_library.py": "5ca7a887ce214eec690580bc82edeb7553e1b38c548bc3996694fc81156c056e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/make_scene.py": "a8c4939aa6a30775e33d34ed565c3cb4835ff8c34e3b453c587ed4d1a7ff7eb6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/source_arrays.py": "fad9b79aa5ec8a121667ea14240fb48cf30e254b9072328af0defe3501284c59",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/asset_library.py": "725dcddca5a14a6645fefa169325257d2ec09d634b24cfc38a59f7ee88c5939d"
+  },
+  "action_columns": [
+    {
+      "index": 0,
+      "name": "astribot_torso_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_1",
+      "actuator_name": "astribot_torso_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 1,
+      "name": "astribot_torso_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_2",
+      "actuator_name": "astribot_torso_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 2,
+      "name": "astribot_head_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_1",
+      "actuator_name": "astribot_head_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 3,
+      "name": "astribot_head_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_2",
+      "actuator_name": "astribot_head_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 4,
+      "name": "astribot_torso_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_3",
+      "actuator_name": "astribot_torso_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 5,
+      "name": "astribot_torso_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_4",
+      "actuator_name": "astribot_torso_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 6,
+      "name": "astribot_arm_left_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_1",
+      "actuator_name": "astribot_arm_left_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 7,
+      "name": "astribot_arm_left_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_2",
+      "actuator_name": "astribot_arm_left_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 8,
+      "name": "astribot_arm_left_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_3",
+      "actuator_name": "astribot_arm_left_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 9,
+      "name": "astribot_arm_left_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_4",
+      "actuator_name": "astribot_arm_left_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 10,
+      "name": "astribot_arm_left_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_5",
+      "actuator_name": "astribot_arm_left_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 11,
+      "name": "astribot_arm_left_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_6",
+      "actuator_name": "astribot_arm_left_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 12,
+      "name": "astribot_arm_left_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_7",
+      "actuator_name": "astribot_arm_left_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 13,
+      "name": "astribot_gripper_left_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_left_joint_L1",
+      "actuator_name": "astribot_gripper_left_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_left_split",
+      "coupled_target_joints": [
+        "astribot_gripper_left_joint_R1",
+        "astribot_gripper_left_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    },
+    {
+      "index": 14,
+      "name": "astribot_arm_right_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_1",
+      "actuator_name": "astribot_arm_right_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 15,
+      "name": "astribot_arm_right_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_2",
+      "actuator_name": "astribot_arm_right_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 16,
+      "name": "astribot_arm_right_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_3",
+      "actuator_name": "astribot_arm_right_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 17,
+      "name": "astribot_arm_right_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_4",
+      "actuator_name": "astribot_arm_right_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 18,
+      "name": "astribot_arm_right_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_5",
+      "actuator_name": "astribot_arm_right_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 19,
+      "name": "astribot_arm_right_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_6",
+      "actuator_name": "astribot_arm_right_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 20,
+      "name": "astribot_arm_right_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_7",
+      "actuator_name": "astribot_arm_right_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 21,
+      "name": "astribot_gripper_right_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_right_joint_L1",
+      "actuator_name": "astribot_gripper_right_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_right_split",
+      "coupled_target_joints": [
+        "astribot_gripper_right_joint_R1",
+        "astribot_gripper_right_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    }
+  ],
+  "state_projection": {
+    "names": [
+      "astribot_torso_joint_1",
+      "astribot_torso_joint_2",
+      "astribot_torso_joint_3",
+      "astribot_torso_joint_4",
+      "astribot_head_joint_1",
+      "astribot_head_joint_2",
+      "astribot_arm_left_joint_1",
+      "astribot_arm_left_joint_2",
+      "astribot_arm_left_joint_3",
+      "astribot_arm_left_joint_4",
+      "astribot_arm_left_joint_5",
+      "astribot_arm_left_joint_6",
+      "astribot_arm_left_joint_7",
+      "astribot_gripper_left_joint_L1",
+      "astribot_gripper_left_joint_L11",
+      "astribot_gripper_left_joint_L2",
+      "astribot_gripper_left_joint_R1",
+      "astribot_gripper_left_joint_R11",
+      "astribot_gripper_left_joint_R2",
+      "astribot_arm_right_joint_1",
+      "astribot_arm_right_joint_2",
+      "astribot_arm_right_joint_3",
+      "astribot_arm_right_joint_4",
+      "astribot_arm_right_joint_5",
+      "astribot_arm_right_joint_6",
+      "astribot_arm_right_joint_7",
+      "astribot_gripper_right_joint_L1",
+      "astribot_gripper_right_joint_L11",
+      "astribot_gripper_right_joint_L2",
+      "astribot_gripper_right_joint_R1",
+      "astribot_gripper_right_joint_R11",
+      "astribot_gripper_right_joint_R2"
+    ],
+    "qpos_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31
+    ],
+    "units": [
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad"
+    ],
+    "nq": 46,
+    "nv": 44,
+    "nu": 22
+  },
+  "source_episode_sha256": "e481e28df3c53470bc5b97f1280809c075fb008ddac42f98d25bf89c882b989c",
+  "native_task_success": true,
+  "independent_rollout_and_hard_trace_exact": true,
+  "original_action_state_samples_exact": true,
+  "terminal_state_included": true,
+  "camera_clocks_fully_decoded": true,
+  "hardware_sdk_ready": false,
+  "renderer_episode": {
+    "source_id": "physical_01__stack_cups_ep000019",
+    "case_id": "stack_cups_ep000019",
+    "physical_index": 1,
+    "appearance_index": 0,
+    "attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00",
+    "native_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00",
+    "native_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/receipt.json",
+    "native_receipt_sha256": "95d37f5cf70b0ab17807bb5d5c269d226445f9efb1c61881a2fa468cdac2093e",
+    "native_scene": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000019/attempt_00/execute/scene.xml",
+    "native_scene_sha256": "a652ecd9b22bc8d42af2dec7109068c90de4d46a564f4056befceded810b8eba",
+    "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000019",
+    "config": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_01__stack_cups_ep000019.json",
+    "frames": 1211,
+    "fps": 30,
+    "support_passed": true,
+    "lighting_seed": 2537885945,
+    "status": "verified_complete",
+    "videos": {
+      "head_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1211",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000019/head_rgbd.mp4",
+        "sha256": "cf419ba83b2ab22d468d47e87c1b6e6236f51e266ebac81f46074b259c2c70c7",
+        "bytes": 451083,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "left_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1211",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000019/left_wrist_rgbd.mp4",
+        "sha256": "b9756e695efe0dad9769098ba8128b9dcf10a35151b72990a40a33ee74f0bc1c",
+        "bytes": 388161,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "right_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1211",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000019/right_wrist_rgbd.mp4",
+        "sha256": "57ff3ad715964aec0e4aad93d5d167e5662fce92f837740783a48527b93ec45b",
+        "bytes": 427802,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      }
+    },
+    "actions": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000019/actions_30fps.npz",
+    "action_sha256": "9e6522f687cffcf8e3ad787fc21c2c45033f00b0111cdc0bcb8ee5ca01f67572",
+    "completed_at": "2026-10-17T00:07:09.444644+00:00",
+    "resolution": [
+      224,
+      224
+    ],
+    "source_asset_sha256": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "asset_blend": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend",
+    "render_config_sha256": "6e84c1407fdca2367f4acf1e77d93725100c2ec26172253f7dfcada20c3cbc85",
+    "source_original_asset_sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "source_json_sha256": "a56559d4bedc39fe2d72030a1d33b3af1fe8ab671ec6b9deb4b2df497e1ea1f8",
+    "complete_terminal_state_included": true,
+    "causal_action_clock_verified": true,
+    "lighting_recipe": {
+      "seed": 2537885945,
+      "lights": [
+        {
+          "name": "Alignment / lower panel indirect fill",
+          "position_m": [
+            0.03496135416671678,
+            0.4731698912822562,
+            0.6414493890984376
+          ],
+          "target_m": [
+            0.07816793876944647,
+            0.6413820137003866,
+            2.6745744189620035
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / broad left office softbox",
+          "position_m": [
+            1.3718440917476322,
+            0.6351796105440599,
+            2.7527871293359043
+          ],
+          "target_m": [
+            0.21604929994741823,
+            0.07783773166678262,
+            1.264082248573971
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / ceiling bounce",
+          "position_m": [
+            -0.04717147276473482,
+            0.7773164647030371,
+            2.6141282479513896
+          ],
+          "target_m": [
+            0.048273951007338445,
+            0.1544847738439792,
+            0.7096893873285384
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / soft camera-side fill",
+          "position_m": [
+            0.6977838312676115,
+            -2.4464664078417457,
+            1.7307432474758202
+          ],
+          "target_m": [
+            0.25507164912691527,
+            -0.8376739127073972,
+            0.9153804441783662
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / low room bounce",
+          "position_m": [
+            -0.09357785442146174,
+            -0.9785087056690913,
+            1.163046058288025
+          ],
+          "target_m": [
+            0.06673302756689134,
+            1.269985679311617,
+            1.0629179551510188
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        }
+      ],
+      "added_lights": [
+        {
+          "name": "s1_heightfit_added_0",
+          "position_m": [
+            -1.5287624820548138,
+            -1.3621944247869187,
+            2.7596268235962977
+          ],
+          "target_m": [
+            0.10099869697968222,
+            0.16520153380292135,
+            0.7646460672816535
+          ],
+          "power_w": 28.25932908643455,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_m": 0.9987941628617766
+        },
+        {
+          "name": "s1_heightfit_added_1",
+          "position_m": [
+            1.2779059444101974,
+            -1.3955686897526591,
+            2.5419352666170774
+          ],
+          "target_m": [
+            0.1972269054698248,
+            -0.025740484706801292,
+            0.7646460672816535
+          ],
+          "power_w": 12.866708248936508,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_m": 1.5957698265612892
+        }
+      ]
+    },
+    "camera_alignment": {
+      "schema": "rssr.s1_heightfit.camera_alignment.v2",
+      "experiment": "s1_heightfit_3x1_20261017",
+      "status": "aligned",
+      "production_ready": true,
+      "table_baseline_m": 0.8,
+      "table_baseline": {
+        "top_z_m": 0.8,
+        "center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "half_xy_m": [
+          0.6,
+          0.3
+        ]
+      },
+      "height_authorization": "User explicitly requested changing tabletop height to achieve alignment; original0.95m is superseded for this simulator campaign.",
+      "height_selection": "0.80m balances approximate reference alignment and a collision-free0.75–0.85m augmentation envelope; fitted hardware height is not claimed.",
+      "cameras": {
+        "head_rgbd": {
+          "pos": [
+            0.022619845171147547,
+            -0.2400460318505255,
+            -0.045246823885230464
+          ],
+          "quat": [
+            0.08606233952483466,
+            0.7114492396588586,
+            0.07501575505710205,
+            -0.6934016798346807
+          ],
+          "fovy": 46.68734463653697,
+          "reference_fovy_deg": 46.68734463653697,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 74.99365341164304,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "parent_body": "astribot_head_link_2",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": -0.55
+        },
+        "left_wrist_rgbd": {
+          "pos": [
+            0.006744568667666906,
+            0.1464328753067978,
+            0.07665232327016308
+          ],
+          "quat": [
+            0.009566690715288284,
+            0.034474550449605006,
+            0.685282734400536,
+            0.7273977988230236
+          ],
+          "fovy": 54.222198704777604,
+          "reference_fovy_deg": 54.222198704777604,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 84.61501072235728,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            0.3199734618889353,
+            -0.3866329842091521,
+            1.0029182651508828
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9978976766778948,
+              -5.012789991490314e-05,
+              0.0648091379980808
+            ],
+            [
+              0.06407827207165417,
+              -0.15052229818248108,
+              0.9865277557160651
+            ],
+            [
+              0.009705767830094898,
+              0.9886066129846891,
+              0.15020906375372425
+            ]
+          ],
+          "parent_body": "arm_left_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.65
+        },
+        "right_wrist_rgbd": {
+          "pos": [
+            -0.005538238890151263,
+            0.1613074787955398,
+            0.0736131169684578
+          ],
+          "quat": [
+            -0.02961458926172238,
+            -0.056056253908770524,
+            0.7044950778034461,
+            0.7068715285335033
+          ],
+          "fovy": 48.45549063590859,
+          "reference_fovy_deg": 48.45549063590859,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 77.31961650818052,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.28734405752041364,
+            -0.32887338433762514,
+            1.0166738161950089
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9749519204965966,
+              -0.03394800964694158,
+              -0.2198096571149888
+            ],
+            [
+              -0.21120833263148694,
+              -0.16844800897741388,
+              0.9628168613493286
+            ],
+            [
+              -0.06971221519235292,
+              0.9851257792345891,
+              0.15705860734266947
+            ]
+          ],
+          "parent_body": "arm_right_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.5
+        }
+      },
+      "source_environment": {
+        "path": "/pfs/yichen/desk_scene.blend",
+        "sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16"
+      },
+      "references": {
+        "head": {
+          "path": "/pfs/yichen/head.png",
+          "sha256": "2dea8a4d875d54d3052aa772adde64412b8dff43adb9289fcced03a00215c4fe"
+        },
+        "left": {
+          "path": "/pfs/yichen/left.png",
+          "sha256": "b8635e72558abe414d9091bd3ff1bc6bb9eae680cf34922ed27f7b762760ae4c"
+        },
+        "right": {
+          "path": "/pfs/yichen/right.png",
+          "sha256": "df70afbbcc6819caf439b852e756edd28ed28e911520ba843641b6d1ef4bbb33"
+        }
+      },
+      "initial_pose": {
+        "path": "/pfs/yichen/s1_current_pose_20261016_230445.json",
+        "sha256": "4bcbb1eed890d72f8020ab81374200422e9920e7239bfb0ea40a4cb009be3d4b",
+        "all20_head_torso4_arm_joint_angles_preserved": true,
+        "sdk_gripper_mapping": "Nominal0=open100=closed -> remaining geometric aperture; hardware calibration unavailable."
+      },
+      "shared_room_fit": {
+        "schema": "rssr.s1.shared_room_camera_fit.v1",
+        "tabletop_z_m": 0.8,
+        "wall_y_m": 0.365223429825541,
+        "seam_x_m": [
+          -0.6149551180056824,
+          0.44059396623138153
+        ],
+        "success": true,
+        "wrists": {
+          "left_wrist_rgbd": {
+            "position_native_world_m": [
+              0.3199734618889353,
+              -0.3866329842091521,
+              1.0029182651508828
+            ],
+            "rotation_native_world": [
+              [
+                -0.9978976766778948,
+                -5.012789991490314e-05,
+                0.0648091379980808
+              ],
+              [
+                0.06407827207165417,
+                -0.15052229818248108,
+                0.9865277557160651
+              ],
+              [
+                0.009705767830094898,
+                0.9886066129846891,
+                0.15020906375372425
+              ]
+            ],
+            "reference_fovy_deg": 54.222198704777604,
+            "focal_px": 351.5828765549533
+          },
+          "right_wrist_rgbd": {
+            "position_native_world_m": [
+              -0.28734405752041364,
+              -0.32887338433762514,
+              1.0166738161950089
+            ],
+            "rotation_native_world": [
+              [
+                -0.9749519204965966,
+                -0.03394800964694158,
+                -0.2198096571149888
+              ],
+              [
+                -0.21120833263148694,
+                -0.16844800897741388,
+                0.9628168613493286
+              ],
+              [
+                -0.06971221519235292,
+                0.9851257792345891,
+                0.15705860734266947
+              ]
+            ],
+            "reference_fovy_deg": 48.45549063590859,
+            "focal_px": 399.9999999999977
+          }
+        },
+        "head_fit": {
+          "schema": "rssr.s1.heightfit.head.v1",
+          "tabletop_z_m": 0.8000000099999999,
+          "table_center_xy_m": [
+            -0.028675198314140744,
+            -0.7152676486019908
+          ],
+          "table_half_xy_m": [
+            0.6,
+            0.3
+          ],
+          "cup_centers_xy_m": [
+            [
+              0.2649023407571988,
+              -0.7247601502042893
+            ],
+            [
+              -0.2601612665026171,
+              -0.6654370645044115
+            ]
+          ],
+          "camera_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "camera_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "reference_fovy_deg": 46.68734463653697,
+          "focal_px": 834.1598929781229,
+          "optimizer_success": true,
+          "cost": 20.05235807868658,
+          "head_camera_translation_from_previous_native_m": [
+            -0.017806766651739234,
+            0.009488446576838838,
+            0.04476816414466045
+          ],
+          "hand_landmarks_approx_px": [
+            [
+              208.0,
+              483.0
+            ],
+            [
+              297.0,
+              491.0
+            ],
+            [
+              894.0,
+              553.0
+            ],
+            [
+              987.0,
+              557.0
+            ]
+          ],
+          "hand_projection_px": [
+            [
+              201.9607084551119,
+              472.97423212126085
+            ],
+            [
+              296.23254453113276,
+              479.43942855616905
+            ],
+            [
+              903.3472168857206,
+              563.8407002841916
+            ],
+            [
+              985.5307315500208,
+              560.5886774204085
+            ]
+          ],
+          "hand_pixel_rms": 7.835444032514649,
+          "residual": [
+            -0.45012517991762024,
+            1.377035062873991,
+            0.34848196266587667,
+            0.6801771351374649,
+            -0.5310568309142119,
+            -0.6919193704735807,
+            -0.655834570057948,
+            0.6298907745122335,
+            1.9109891226887186,
+            2.9705251337873335,
+            2.0561068064276165,
+            -3.2570115064834604,
+            -0.917470603454016,
+            0.4563487144657188,
+            0.642519886373492,
+            1.9382877526186917,
+            3.2255123270471415,
+            -0.9474025319959006,
+            -5.775717912737321,
+            -0.6715152992222025,
+            -0.5032742954073418,
+            -0.8354806565615954,
+            -0.06395462240560335,
+            -0.9633809536525794,
+            0.778934740476719,
+            0.9033916903492999,
+            -0.12243903749826283,
+            0.299056451700712,
+            -0.17806766651739234,
+            0.09488446576838838,
+            0.4476816414466045,
+            -0.14337599157070371,
+            0.17366175699004616,
+            0.12289973244530727
+          ],
+          "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+          "limitations": [
+            "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+            "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+          ]
+        },
+        "shared_world": true,
+        "method": "Cup rim/base, shared table back edge and shared vertical wall seam lines; fixed measured robot kinematics.",
+        "fit_revision": "Shared82cm fit followed by user-authorized80cm table-height refinement; wrist cameras translated with cup/table geometry to lift fixed robot foreground into reference frame. Right seam adjusted+7cm based on shared three-view render review.",
+        "initial_shared_fit_cost": 74.80530488066681
+      },
+      "head_fit": {
+        "schema": "rssr.s1.heightfit.head.v1",
+        "tabletop_z_m": 0.8000000099999999,
+        "table_center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "table_half_xy_m": [
+          0.6,
+          0.3
+        ],
+        "cup_centers_xy_m": [
+          [
+            0.2649023407571988,
+            -0.7247601502042893
+          ],
+          [
+            -0.2601612665026171,
+            -0.6654370645044115
+          ]
+        ],
+        "camera_world_position_m": [
+          -0.04029723767845193,
+          -0.2581808797104311,
+          1.5504909827914213
+        ],
+        "camera_world_rotation": [
+          [
+            -0.9984142280986754,
+            0.04085612642488199,
+            -0.03872732967401701
+          ],
+          [
+            -0.05556244110544098,
+            -0.8257494397412113,
+            0.5612937536669012
+          ],
+          [
+            -0.009046782219681242,
+            0.5625554547781308,
+            0.8267100556004142
+          ]
+        ],
+        "reference_fovy_deg": 46.68734463653697,
+        "focal_px": 834.1598929781229,
+        "optimizer_success": true,
+        "cost": 20.05235807868658,
+        "head_camera_translation_from_previous_native_m": [
+          -0.017806766651739234,
+          0.009488446576838838,
+          0.04476816414466045
+        ],
+        "hand_landmarks_approx_px": [
+          [
+            208.0,
+            483.0
+          ],
+          [
+            297.0,
+            491.0
+          ],
+          [
+            894.0,
+            553.0
+          ],
+          [
+            987.0,
+            557.0
+          ]
+        ],
+        "hand_projection_px": [
+          [
+            201.9607084551119,
+            472.97423212126085
+          ],
+          [
+            296.23254453113276,
+            479.43942855616905
+          ],
+          [
+            903.3472168857206,
+            563.8407002841916
+          ],
+          [
+            985.5307315500208,
+            560.5886774204085
+          ]
+        ],
+        "hand_pixel_rms": 7.835444032514649,
+        "residual": [
+          -0.45012517991762024,
+          1.377035062873991,
+          0.34848196266587667,
+          0.6801771351374649,
+          -0.5310568309142119,
+          -0.6919193704735807,
+          -0.655834570057948,
+          0.6298907745122335,
+          1.9109891226887186,
+          2.9705251337873335,
+          2.0561068064276165,
+          -3.2570115064834604,
+          -0.917470603454016,
+          0.4563487144657188,
+          0.642519886373492,
+          1.9382877526186917,
+          3.2255123270471415,
+          -0.9474025319959006,
+          -5.775717912737321,
+          -0.6715152992222025,
+          -0.5032742954073418,
+          -0.8354806565615954,
+          -0.06395462240560335,
+          -0.9633809536525794,
+          0.778934740476719,
+          0.9033916903492999,
+          -0.12243903749826283,
+          0.299056451700712,
+          -0.17806766651739234,
+          0.09488446576838838,
+          0.4476816414466045,
+          -0.14337599157070371,
+          0.17366175699004616,
+          0.12289973244530727
+        ],
+        "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+        "limitations": [
+          "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+          "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+        ]
+      },
+      "limitations": [
+        "Visual pinhole and material/geometry reconstruction, not hardware camera calibration.",
+        "Manual cup/finger/wall landmarks and source camera distortion limit exact pixel matching.",
+        "All three sensors render the same shared room geometry/materials and world lights.",
+        "Cup height9cm and bottom5.85cm remain documented priors."
+      ],
+      "camera_response_note": "Fixed per-camera exposure estimates model different sensor captures; room geometry/materials/lights remain shared.",
+      "render_policy": "Reference16:9 previews; production224square expands vertical coverage preserving horizontal FOV, no padding or deformation.",
+      "visual_review": {
+        "method": "Agent inspected all3 final64-sample reference views against supplied photos; shared room geometry and fixed parent mounts accepted as approximate visual alignment.",
+        "hardware_camera_calibration": false,
+        "reviewed_reference_samples": 64,
+        "tabletop_baseline_m": 0.8,
+        "preview_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/room_review_final80_64/preview_receipt.json",
+        "preview_receipt_sha256": "2e2d699bf79e73d82c07118814d1fc0669b465b6bd415c4278310cfdedef6ad0",
+        "strict_idle_b200_verification": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/diagnostics/gpu_preflight_1792175018743286715/verification.json",
+        "strict_idle_b200_verification_sha256": "f35bdf0f81c73bd6a96d5460e6a17eea28ea3b87ccd7db2ffa7984109eecb350",
+        "source_pose_joint_values_unchanged": true,
+        "limitations_preserved": true
+      }
+    },
+    "hardware_sdk_ready": false,
+    "assembly_revision": "uniform_decode_timestamps_v4_no_picture_reencoding"
+  }
+}

150case_data_enhance_blender_v2/episodes/physical_01__stack_cups_ep000020/actions_30fps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e183e0ab3a4da4deb8d8d7e595777df019c5393ed21c937bce045e1687031d6e
+size 2391697

150case_data_enhance_blender_v2/episodes/physical_01__stack_cups_ep000020/verification.json

@@ -0,0 +1,1176 @@
+{
+  "schema": "rssr.s1_bgfit.verified_episode.v1",
+  "source_id": "physical_01__stack_cups_ep000020",
+  "source_case_id": "stack_cups_ep000020",
+  "campaign_id": "s1_heightfit_bgfit_v3_20261017",
+  "physical_campaign_id": "s1_heightfit_3x1_20261017",
+  "table_baseline_m": 0.8,
+  "table_height_delta_m": -0.03925420905004559,
+  "table_height_m": 0.7607457909499544,
+  "asset_dependencies": {
+    "textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe"
+  },
+  "physical_index": 1,
+  "appearance_index": 0,
+  "episode_index": 53,
+  "native_pins": {
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/receipt.json": "a55da59871e77b554b45c23701517a25f69c2644bc10979fd19d6336f68992a4",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000020/source.json": "fefd29fc3765f65fd6d3ab238e0b59a063f304bc3bfc2236d6d17cbddd3be0c9",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/physical_augmentation.json": "a4d00c5aba6b62e7ebcaac183518158d8981d4865fb92ee073e82b5879fd9439",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_01__stack_cups_ep000020.json": "3568d2649bc27a90fbbc3ff368bb702f6ea939b2b5e836cf96d4ab21db954e5b",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/execute/scene.xml": "238a4178d4bb4671b2fe4d711722828b1df04cd489b685d66e755610a148540c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/execute/rollout.npz": "ff22a74faf180639be9c04e616c96c978047ecc30585486814c7c660edadc3ba",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/issued_robot_commands.npz": "372e8cd83d2572f21718d6a37a8f5cb24857f0ccf140c920f740db64248fba33",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/replay/rollout.npz": "ff22a74faf180639be9c04e616c96c978047ecc30585486814c7c660edadc3ba",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/execute/immutable_hard_trace.npz": "f055b85724e523d0763fcbae7ae8e16069a48d5e8e3fb41b633e6968f00fea3f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/replay/immutable_hard_trace.npz": "f055b85724e523d0763fcbae7ae8e16069a48d5e8e3fb41b633e6968f00fea3f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000020/actions_30fps.npz": "e183e0ab3a4da4deb8d8d7e595777df019c5393ed21c937bce045e1687031d6e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000020/poses.npz": "b9ce335a573488ef8f81b061ca99652de4f7c04e6465d80073588af2d3e1c6ba",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000020/head_rgbd.mp4": "3abb0813a99894de299077d9313e31ced35a69afb3dab995df501e80c4a23088",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000020/left_wrist_rgbd.mp4": "2d6681b7e09528a116bafc02819aec4730bd192289e16f41cf29d91d3f8eed3c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000020/right_wrist_rgbd.mp4": "49551357a3ef803f4ec3f95b8627ceecb60a3d684a70dbdf30d373e749cb9cff",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_contract.json": "fda6e0c04bbc2820f553586f92dbdfe2e2b7299e5f414e1722f74bd7579d23cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/request.json": "5beacd304afb949d370bfec6d2475b52c132b23c043258f2da86071fa550c39e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_config.json": "225f2eb4dc211b7ce0ea43c6858e88775f050db996c0b0d3ae325d4398fd6174",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/runs.json": "88c732d21375d974b536d8fcfa72f4f41d7bf2477c4ffab212defe85af9b88c6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/measured_cups.blend": "b1350ea0a701d335e4a10d3a4f62544a3c11892ff091d36531b50f6e504453df",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/camera_alignment.json": "2cca58b4cdd8a02c21e44812c9e487d96ce794640a1d267654c7abcca74d96cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/asset_manifest.json": "7351b4041a6284d26077a3ea1b918656fa611ae6725f39df65f418b51e673076",
+    "/pfs/yichen/desk_scene.blend": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/renderer.py": "af41dbfc2e7dc4dab4f9a930395d23c1db020152ab350d0ae7ec7cf0a0d626c5",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/camera.py": "921a8ad6184089db101a04ed47d3fa29b5bae7ec3964778de2d7b1e04e88c64f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/environment.py": "0298d1f7846bafcd3e83d58824ee520608045ffb544368a4450e47c850ad3a8f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/export_source.py": "d01ebb92636b695578555a4f3d9dd3a1c2a957d1ed582067546e59c9a83e8e27",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/run_task.py": "43148ad9484faf2a79fef1ef022c007d6ad5cf524913c83fd91d188520fcbfbc",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/assemble.py": "9f8643b65da8620bf7629f680c78170155a957f8c3bc524f8b2eed84efadafad",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/campaign.py": "3bd19b602dcb1dc74d676c063540fa5c0427383bbf6586676d2fbcb7ffa5e06c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/resources.py": "dd15deab337f38835bf225293a04bc7d453cca028b3c8132009c92ac3744312f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/dispatcher.py": "41c9a464dd1d0ef5976e681c752680f93a23ca9e41d75907b14cfd40c97ea532",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/transport.py": "16b3180afe0607c8903ae83e2172512188b50d2a53f0d7e9c0d5e62065cbf058",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/cup_library.py": "5ca7a887ce214eec690580bc82edeb7553e1b38c548bc3996694fc81156c056e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/make_scene.py": "a8c4939aa6a30775e33d34ed565c3cb4835ff8c34e3b453c587ed4d1a7ff7eb6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/source_arrays.py": "fad9b79aa5ec8a121667ea14240fb48cf30e254b9072328af0defe3501284c59",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/asset_library.py": "725dcddca5a14a6645fefa169325257d2ec09d634b24cfc38a59f7ee88c5939d"
+  },
+  "action_columns": [
+    {
+      "index": 0,
+      "name": "astribot_torso_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_1",
+      "actuator_name": "astribot_torso_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 1,
+      "name": "astribot_torso_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_2",
+      "actuator_name": "astribot_torso_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 2,
+      "name": "astribot_head_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_1",
+      "actuator_name": "astribot_head_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 3,
+      "name": "astribot_head_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_2",
+      "actuator_name": "astribot_head_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 4,
+      "name": "astribot_torso_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_3",
+      "actuator_name": "astribot_torso_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 5,
+      "name": "astribot_torso_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_4",
+      "actuator_name": "astribot_torso_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 6,
+      "name": "astribot_arm_left_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_1",
+      "actuator_name": "astribot_arm_left_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 7,
+      "name": "astribot_arm_left_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_2",
+      "actuator_name": "astribot_arm_left_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 8,
+      "name": "astribot_arm_left_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_3",
+      "actuator_name": "astribot_arm_left_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 9,
+      "name": "astribot_arm_left_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_4",
+      "actuator_name": "astribot_arm_left_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 10,
+      "name": "astribot_arm_left_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_5",
+      "actuator_name": "astribot_arm_left_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 11,
+      "name": "astribot_arm_left_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_6",
+      "actuator_name": "astribot_arm_left_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 12,
+      "name": "astribot_arm_left_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_7",
+      "actuator_name": "astribot_arm_left_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 13,
+      "name": "astribot_gripper_left_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_left_joint_L1",
+      "actuator_name": "astribot_gripper_left_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_left_split",
+      "coupled_target_joints": [
+        "astribot_gripper_left_joint_R1",
+        "astribot_gripper_left_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    },
+    {
+      "index": 14,
+      "name": "astribot_arm_right_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_1",
+      "actuator_name": "astribot_arm_right_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 15,
+      "name": "astribot_arm_right_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_2",
+      "actuator_name": "astribot_arm_right_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 16,
+      "name": "astribot_arm_right_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_3",
+      "actuator_name": "astribot_arm_right_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 17,
+      "name": "astribot_arm_right_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_4",
+      "actuator_name": "astribot_arm_right_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 18,
+      "name": "astribot_arm_right_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_5",
+      "actuator_name": "astribot_arm_right_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 19,
+      "name": "astribot_arm_right_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_6",
+      "actuator_name": "astribot_arm_right_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 20,
+      "name": "astribot_arm_right_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_7",
+      "actuator_name": "astribot_arm_right_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 21,
+      "name": "astribot_gripper_right_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_right_joint_L1",
+      "actuator_name": "astribot_gripper_right_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_right_split",
+      "coupled_target_joints": [
+        "astribot_gripper_right_joint_R1",
+        "astribot_gripper_right_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    }
+  ],
+  "state_projection": {
+    "names": [
+      "astribot_torso_joint_1",
+      "astribot_torso_joint_2",
+      "astribot_torso_joint_3",
+      "astribot_torso_joint_4",
+      "astribot_head_joint_1",
+      "astribot_head_joint_2",
+      "astribot_arm_left_joint_1",
+      "astribot_arm_left_joint_2",
+      "astribot_arm_left_joint_3",
+      "astribot_arm_left_joint_4",
+      "astribot_arm_left_joint_5",
+      "astribot_arm_left_joint_6",
+      "astribot_arm_left_joint_7",
+      "astribot_gripper_left_joint_L1",
+      "astribot_gripper_left_joint_L11",
+      "astribot_gripper_left_joint_L2",
+      "astribot_gripper_left_joint_R1",
+      "astribot_gripper_left_joint_R11",
+      "astribot_gripper_left_joint_R2",
+      "astribot_arm_right_joint_1",
+      "astribot_arm_right_joint_2",
+      "astribot_arm_right_joint_3",
+      "astribot_arm_right_joint_4",
+      "astribot_arm_right_joint_5",
+      "astribot_arm_right_joint_6",
+      "astribot_arm_right_joint_7",
+      "astribot_gripper_right_joint_L1",
+      "astribot_gripper_right_joint_L11",
+      "astribot_gripper_right_joint_L2",
+      "astribot_gripper_right_joint_R1",
+      "astribot_gripper_right_joint_R11",
+      "astribot_gripper_right_joint_R2"
+    ],
+    "qpos_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31
+    ],
+    "units": [
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad"
+    ],
+    "nq": 46,
+    "nv": 44,
+    "nu": 22
+  },
+  "source_episode_sha256": "386425fea56c3eacd201b65881a347ceb865ee1b132835d54d48d20bd43eb74d",
+  "native_task_success": true,
+  "independent_rollout_and_hard_trace_exact": true,
+  "original_action_state_samples_exact": true,
+  "terminal_state_included": true,
+  "camera_clocks_fully_decoded": true,
+  "hardware_sdk_ready": false,
+  "renderer_episode": {
+    "source_id": "physical_01__stack_cups_ep000020",
+    "case_id": "stack_cups_ep000020",
+    "physical_index": 1,
+    "appearance_index": 0,
+    "attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00",
+    "native_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00",
+    "native_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/receipt.json",
+    "native_receipt_sha256": "a55da59871e77b554b45c23701517a25f69c2644bc10979fd19d6336f68992a4",
+    "native_scene": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000020/attempt_00/execute/scene.xml",
+    "native_scene_sha256": "238a4178d4bb4671b2fe4d711722828b1df04cd489b685d66e755610a148540c",
+    "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000020",
+    "config": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_01__stack_cups_ep000020.json",
+    "frames": 1376,
+    "fps": 30,
+    "support_passed": true,
+    "lighting_seed": 1491305351,
+    "status": "verified_complete",
+    "videos": {
+      "head_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1376",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000020/head_rgbd.mp4",
+        "sha256": "3abb0813a99894de299077d9313e31ced35a69afb3dab995df501e80c4a23088",
+        "bytes": 507501,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "left_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1376",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000020/left_wrist_rgbd.mp4",
+        "sha256": "2d6681b7e09528a116bafc02819aec4730bd192289e16f41cf29d91d3f8eed3c",
+        "bytes": 421575,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "right_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1376",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_01__stack_cups_ep000020/right_wrist_rgbd.mp4",
+        "sha256": "49551357a3ef803f4ec3f95b8627ceecb60a3d684a70dbdf30d373e749cb9cff",
+        "bytes": 436204,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      }
+    },
+    "actions": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_01__stack_cups_ep000020/actions_30fps.npz",
+    "action_sha256": "e183e0ab3a4da4deb8d8d7e595777df019c5393ed21c937bce045e1687031d6e",
+    "completed_at": "2026-10-17T00:16:00.389534+00:00",
+    "resolution": [
+      224,
+      224
+    ],
+    "source_asset_sha256": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "asset_blend": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend",
+    "render_config_sha256": "3568d2649bc27a90fbbc3ff368bb702f6ea939b2b5e836cf96d4ab21db954e5b",
+    "source_original_asset_sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "source_json_sha256": "fefd29fc3765f65fd6d3ab238e0b59a063f304bc3bfc2236d6d17cbddd3be0c9",
+    "complete_terminal_state_included": true,
+    "causal_action_clock_verified": true,
+    "lighting_recipe": {
+      "seed": 1491305351,
+      "lights": [
+        {
+          "name": "Alignment / lower panel indirect fill",
+          "position_m": [
+            0.19760814194824755,
+            0.46541106433395346,
+            0.6053328198486938
+          ],
+          "target_m": [
+            0.023260011091775862,
+            0.5178863095243971,
+            2.5891452752339266
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / broad left office softbox",
+          "position_m": [
+            1.3712212567976698,
+            0.6000355829912369,
+            2.6123121818652346
+          ],
+          "target_m": [
+            0.4066366428293595,
+            0.08426589257278287,
+            1.1930127785016202
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / ceiling bounce",
+          "position_m": [
+            0.18059270202827887,
+            0.6142552361839337,
+            2.569251953370948
+          ],
+          "target_m": [
+            0.09749088041233966,
+            0.13973050950669508,
+            0.7021338966390251
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / soft camera-side fill",
+          "position_m": [
+            0.6654509908507036,
+            -2.5857998516296963,
+            2.0769063576199533
+          ],
+          "target_m": [
+            0.25225923854034826,
+            -0.7359311734596973,
+            0.9283178576778018
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / low room bounce",
+          "position_m": [
+            -0.13935007226000026,
+            -0.6304945041970114,
+            0.9800865559211513
+          ],
+          "target_m": [
+            0.0649423102985669,
+            1.1422396462465128,
+            1.095223358155974
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        }
+      ],
+      "added_lights": [
+        {
+          "name": "s1_heightfit_added_0",
+          "position_m": [
+            -0.001432257556772898,
+            -1.174408287998822,
+            1.8176334423783296
+          ],
+          "target_m": [
+            -0.14211576548069466,
+            0.19216630275250418,
+            0.7607457909499544
+          ],
+          "power_w": 23.690984477795325,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_m": 1.4140758366032535
+        },
+        {
+          "name": "s1_heightfit_added_1",
+          "position_m": [
+            0.19707575863871085,
+            0.480372581784817,
+            2.5022834114038983
+          ],
+          "target_m": [
+            -0.2036644737913213,
+            -0.04417192089571734,
+            0.7607457909499544
+          ],
+          "power_w": 10.44714431864115,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_m": 0.8292177194375695
+        }
+      ]
+    },
+    "camera_alignment": {
+      "schema": "rssr.s1_heightfit.camera_alignment.v2",
+      "experiment": "s1_heightfit_3x1_20261017",
+      "status": "aligned",
+      "production_ready": true,
+      "table_baseline_m": 0.8,
+      "table_baseline": {
+        "top_z_m": 0.8,
+        "center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "half_xy_m": [
+          0.6,
+          0.3
+        ]
+      },
+      "height_authorization": "User explicitly requested changing tabletop height to achieve alignment; original0.95m is superseded for this simulator campaign.",
+      "height_selection": "0.80m balances approximate reference alignment and a collision-free0.75–0.85m augmentation envelope; fitted hardware height is not claimed.",
+      "cameras": {
+        "head_rgbd": {
+          "pos": [
+            0.022619845171147547,
+            -0.2400460318505255,
+            -0.045246823885230464
+          ],
+          "quat": [
+            0.08606233952483466,
+            0.7114492396588586,
+            0.07501575505710205,
+            -0.6934016798346807
+          ],
+          "fovy": 46.68734463653697,
+          "reference_fovy_deg": 46.68734463653697,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 74.99365341164304,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "parent_body": "astribot_head_link_2",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": -0.55
+        },
+        "left_wrist_rgbd": {
+          "pos": [
+            0.006744568667666906,
+            0.1464328753067978,
+            0.07665232327016308
+          ],
+          "quat": [
+            0.009566690715288284,
+            0.034474550449605006,
+            0.685282734400536,
+            0.7273977988230236
+          ],
+          "fovy": 54.222198704777604,
+          "reference_fovy_deg": 54.222198704777604,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 84.61501072235728,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            0.3199734618889353,
+            -0.3866329842091521,
+            1.0029182651508828
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9978976766778948,
+              -5.012789991490314e-05,
+              0.0648091379980808
+            ],
+            [
+              0.06407827207165417,
+              -0.15052229818248108,
+              0.9865277557160651
+            ],
+            [
+              0.009705767830094898,
+              0.9886066129846891,
+              0.15020906375372425
+            ]
+          ],
+          "parent_body": "arm_left_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.65
+        },
+        "right_wrist_rgbd": {
+          "pos": [
+            -0.005538238890151263,
+            0.1613074787955398,
+            0.0736131169684578
+          ],
+          "quat": [
+            -0.02961458926172238,
+            -0.056056253908770524,
+            0.7044950778034461,
+            0.7068715285335033
+          ],
+          "fovy": 48.45549063590859,
+          "reference_fovy_deg": 48.45549063590859,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 77.31961650818052,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.28734405752041364,
+            -0.32887338433762514,
+            1.0166738161950089
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9749519204965966,
+              -0.03394800964694158,
+              -0.2198096571149888
+            ],
+            [
+              -0.21120833263148694,
+              -0.16844800897741388,
+              0.9628168613493286
+            ],
+            [
+              -0.06971221519235292,
+              0.9851257792345891,
+              0.15705860734266947
+            ]
+          ],
+          "parent_body": "arm_right_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.5
+        }
+      },
+      "source_environment": {
+        "path": "/pfs/yichen/desk_scene.blend",
+        "sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16"
+      },
+      "references": {
+        "head": {
+          "path": "/pfs/yichen/head.png",
+          "sha256": "2dea8a4d875d54d3052aa772adde64412b8dff43adb9289fcced03a00215c4fe"
+        },
+        "left": {
+          "path": "/pfs/yichen/left.png",
+          "sha256": "b8635e72558abe414d9091bd3ff1bc6bb9eae680cf34922ed27f7b762760ae4c"
+        },
+        "right": {
+          "path": "/pfs/yichen/right.png",
+          "sha256": "df70afbbcc6819caf439b852e756edd28ed28e911520ba843641b6d1ef4bbb33"
+        }
+      },
+      "initial_pose": {
+        "path": "/pfs/yichen/s1_current_pose_20261016_230445.json",
+        "sha256": "4bcbb1eed890d72f8020ab81374200422e9920e7239bfb0ea40a4cb009be3d4b",
+        "all20_head_torso4_arm_joint_angles_preserved": true,
+        "sdk_gripper_mapping": "Nominal0=open100=closed -> remaining geometric aperture; hardware calibration unavailable."
+      },
+      "shared_room_fit": {
+        "schema": "rssr.s1.shared_room_camera_fit.v1",
+        "tabletop_z_m": 0.8,
+        "wall_y_m": 0.365223429825541,
+        "seam_x_m": [
+          -0.6149551180056824,
+          0.44059396623138153
+        ],
+        "success": true,
+        "wrists": {
+          "left_wrist_rgbd": {
+            "position_native_world_m": [
+              0.3199734618889353,
+              -0.3866329842091521,
+              1.0029182651508828
+            ],
+            "rotation_native_world": [
+              [
+                -0.9978976766778948,
+                -5.012789991490314e-05,
+                0.0648091379980808
+              ],
+              [
+                0.06407827207165417,
+                -0.15052229818248108,
+                0.9865277557160651
+              ],
+              [
+                0.009705767830094898,
+                0.9886066129846891,
+                0.15020906375372425
+              ]
+            ],
+            "reference_fovy_deg": 54.222198704777604,
+            "focal_px": 351.5828765549533
+          },
+          "right_wrist_rgbd": {
+            "position_native_world_m": [
+              -0.28734405752041364,
+              -0.32887338433762514,
+              1.0166738161950089
+            ],
+            "rotation_native_world": [
+              [
+                -0.9749519204965966,
+                -0.03394800964694158,
+                -0.2198096571149888
+              ],
+              [
+                -0.21120833263148694,
+                -0.16844800897741388,
+                0.9628168613493286
+              ],
+              [
+                -0.06971221519235292,
+                0.9851257792345891,
+                0.15705860734266947
+              ]
+            ],
+            "reference_fovy_deg": 48.45549063590859,
+            "focal_px": 399.9999999999977
+          }
+        },
+        "head_fit": {
+          "schema": "rssr.s1.heightfit.head.v1",
+          "tabletop_z_m": 0.8000000099999999,
+          "table_center_xy_m": [
+            -0.028675198314140744,
+            -0.7152676486019908
+          ],
+          "table_half_xy_m": [
+            0.6,
+            0.3
+          ],
+          "cup_centers_xy_m": [
+            [
+              0.2649023407571988,
+              -0.7247601502042893
+            ],
+            [
+              -0.2601612665026171,
+              -0.6654370645044115
+            ]
+          ],
+          "camera_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "camera_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "reference_fovy_deg": 46.68734463653697,
+          "focal_px": 834.1598929781229,
+          "optimizer_success": true,
+          "cost": 20.05235807868658,
+          "head_camera_translation_from_previous_native_m": [
+            -0.017806766651739234,
+            0.009488446576838838,
+            0.04476816414466045
+          ],
+          "hand_landmarks_approx_px": [
+            [
+              208.0,
+              483.0
+            ],
+            [
+              297.0,
+              491.0
+            ],
+            [
+              894.0,
+              553.0
+            ],
+            [
+              987.0,
+              557.0
+            ]
+          ],
+          "hand_projection_px": [
+            [
+              201.9607084551119,
+              472.97423212126085
+            ],
+            [
+              296.23254453113276,
+              479.43942855616905
+            ],
+            [
+              903.3472168857206,
+              563.8407002841916
+            ],
+            [
+              985.5307315500208,
+              560.5886774204085
+            ]
+          ],
+          "hand_pixel_rms": 7.835444032514649,
+          "residual": [
+            -0.45012517991762024,
+            1.377035062873991,
+            0.34848196266587667,
+            0.6801771351374649,
+            -0.5310568309142119,
+            -0.6919193704735807,
+            -0.655834570057948,
+            0.6298907745122335,
+            1.9109891226887186,
+            2.9705251337873335,
+            2.0561068064276165,
+            -3.2570115064834604,
+            -0.917470603454016,
+            0.4563487144657188,
+            0.642519886373492,
+            1.9382877526186917,
+            3.2255123270471415,
+            -0.9474025319959006,
+            -5.775717912737321,
+            -0.6715152992222025,
+            -0.5032742954073418,
+            -0.8354806565615954,
+            -0.06395462240560335,
+            -0.9633809536525794,
+            0.778934740476719,
+            0.9033916903492999,
+            -0.12243903749826283,
+            0.299056451700712,
+            -0.17806766651739234,
+            0.09488446576838838,
+            0.4476816414466045,
+            -0.14337599157070371,
+            0.17366175699004616,
+            0.12289973244530727
+          ],
+          "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+          "limitations": [
+            "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+            "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+          ]
+        },
+        "shared_world": true,
+        "method": "Cup rim/base, shared table back edge and shared vertical wall seam lines; fixed measured robot kinematics.",
+        "fit_revision": "Shared82cm fit followed by user-authorized80cm table-height refinement; wrist cameras translated with cup/table geometry to lift fixed robot foreground into reference frame. Right seam adjusted+7cm based on shared three-view render review.",
+        "initial_shared_fit_cost": 74.80530488066681
+      },
+      "head_fit": {
+        "schema": "rssr.s1.heightfit.head.v1",
+        "tabletop_z_m": 0.8000000099999999,
+        "table_center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "table_half_xy_m": [
+          0.6,
+          0.3
+        ],
+        "cup_centers_xy_m": [
+          [
+            0.2649023407571988,
+            -0.7247601502042893
+          ],
+          [
+            -0.2601612665026171,
+            -0.6654370645044115
+          ]
+        ],
+        "camera_world_position_m": [
+          -0.04029723767845193,
+          -0.2581808797104311,
+          1.5504909827914213
+        ],
+        "camera_world_rotation": [
+          [
+            -0.9984142280986754,
+            0.04085612642488199,
+            -0.03872732967401701
+          ],
+          [
+            -0.05556244110544098,
+            -0.8257494397412113,
+            0.5612937536669012
+          ],
+          [
+            -0.009046782219681242,
+            0.5625554547781308,
+            0.8267100556004142
+          ]
+        ],
+        "reference_fovy_deg": 46.68734463653697,
+        "focal_px": 834.1598929781229,
+        "optimizer_success": true,
+        "cost": 20.05235807868658,
+        "head_camera_translation_from_previous_native_m": [
+          -0.017806766651739234,
+          0.009488446576838838,
+          0.04476816414466045
+        ],
+        "hand_landmarks_approx_px": [
+          [
+            208.0,
+            483.0
+          ],
+          [
+            297.0,
+            491.0
+          ],
+          [
+            894.0,
+            553.0
+          ],
+          [
+            987.0,
+            557.0
+          ]
+        ],
+        "hand_projection_px": [
+          [
+            201.9607084551119,
+            472.97423212126085
+          ],
+          [
+            296.23254453113276,
+            479.43942855616905
+          ],
+          [
+            903.3472168857206,
+            563.8407002841916
+          ],
+          [
+            985.5307315500208,
+            560.5886774204085
+          ]
+        ],
+        "hand_pixel_rms": 7.835444032514649,
+        "residual": [
+          -0.45012517991762024,
+          1.377035062873991,
+          0.34848196266587667,
+          0.6801771351374649,
+          -0.5310568309142119,
+          -0.6919193704735807,
+          -0.655834570057948,
+          0.6298907745122335,
+          1.9109891226887186,
+          2.9705251337873335,
+          2.0561068064276165,
+          -3.2570115064834604,
+          -0.917470603454016,
+          0.4563487144657188,
+          0.642519886373492,
+          1.9382877526186917,
+          3.2255123270471415,
+          -0.9474025319959006,
+          -5.775717912737321,
+          -0.6715152992222025,
+          -0.5032742954073418,
+          -0.8354806565615954,
+          -0.06395462240560335,
+          -0.9633809536525794,
+          0.778934740476719,
+          0.9033916903492999,
+          -0.12243903749826283,
+          0.299056451700712,
+          -0.17806766651739234,
+          0.09488446576838838,
+          0.4476816414466045,
+          -0.14337599157070371,
+          0.17366175699004616,
+          0.12289973244530727
+        ],
+        "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+        "limitations": [
+          "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+          "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+        ]
+      },
+      "limitations": [
+        "Visual pinhole and material/geometry reconstruction, not hardware camera calibration.",
+        "Manual cup/finger/wall landmarks and source camera distortion limit exact pixel matching.",
+        "All three sensors render the same shared room geometry/materials and world lights.",
+        "Cup height9cm and bottom5.85cm remain documented priors."
+      ],
+      "camera_response_note": "Fixed per-camera exposure estimates model different sensor captures; room geometry/materials/lights remain shared.",
+      "render_policy": "Reference16:9 previews; production224square expands vertical coverage preserving horizontal FOV, no padding or deformation.",
+      "visual_review": {
+        "method": "Agent inspected all3 final64-sample reference views against supplied photos; shared room geometry and fixed parent mounts accepted as approximate visual alignment.",
+        "hardware_camera_calibration": false,
+        "reviewed_reference_samples": 64,
+        "tabletop_baseline_m": 0.8,
+        "preview_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/room_review_final80_64/preview_receipt.json",
+        "preview_receipt_sha256": "2e2d699bf79e73d82c07118814d1fc0669b465b6bd415c4278310cfdedef6ad0",
+        "strict_idle_b200_verification": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/diagnostics/gpu_preflight_1792175018743286715/verification.json",
+        "strict_idle_b200_verification_sha256": "f35bdf0f81c73bd6a96d5460e6a17eea28ea3b87ccd7db2ffa7984109eecb350",
+        "source_pose_joint_values_unchanged": true,
+        "limitations_preserved": true
+      }
+    },
+    "hardware_sdk_ready": false,
+    "assembly_revision": "uniform_decode_timestamps_v4_no_picture_reencoding"
+  }
+}

150case_data_enhance_blender_v2/episodes/physical_02__stack_cups_ep000019/actions_30fps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58f3635a92890c01db76fb49fc68864985a4c35abc9c1a6b02efaa9b8c57c86
+size 2635939

150case_data_enhance_blender_v2/episodes/physical_02__stack_cups_ep000019/verification.json

@@ -0,0 +1,1156 @@
+{
+  "schema": "rssr.s1_bgfit.verified_episode.v1",
+  "source_id": "physical_02__stack_cups_ep000019",
+  "source_case_id": "stack_cups_ep000019",
+  "campaign_id": "s1_heightfit_bgfit_v3_20261017",
+  "physical_campaign_id": "s1_heightfit_3x1_20261017",
+  "table_baseline_m": 0.8,
+  "table_height_delta_m": 0.012726188612308661,
+  "table_height_m": 0.8127261886123087,
+  "asset_dependencies": {
+    "textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe"
+  },
+  "physical_index": 2,
+  "appearance_index": 0,
+  "episode_index": 54,
+  "native_pins": {
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/receipt.json": "64ad823460bcb700675087d72a46b27a159880ad1f9462198c896289a56bc41e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_02__stack_cups_ep000019/source.json": "5a731dd3cb299643729c64c841035cd508d4163fc49a1e2af65c9436b9b0abb1",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/physical_augmentation.json": "85e934c666b93a5b00e9c196d1d8fac987ed03474e4e086f1501c74661854f2d",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_02__stack_cups_ep000019.json": "49f58046eb6f579c9b241350b9273e27ce0280ac5ceb1d7bc6199ecbf2ff49f4",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/execute/scene.xml": "e84ab904e07693981e9200b0d5fa2b7d52dda0c756fc6a1daf8510351133b78a",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/execute/rollout.npz": "bee5f9ce61288ede81861fca6fc6b6028faed8ac865acbf1c1cef0509c1271bb",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/issued_robot_commands.npz": "a29e8290236523046773c00bcc358fb60a946b79578281592104ec9164dc04c4",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/replay/rollout.npz": "bee5f9ce61288ede81861fca6fc6b6028faed8ac865acbf1c1cef0509c1271bb",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/execute/immutable_hard_trace.npz": "bee5704bcbafa582302aab712e45259da33ad13a1df670778ebf4959eaa75849",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/replay/immutable_hard_trace.npz": "bee5704bcbafa582302aab712e45259da33ad13a1df670778ebf4959eaa75849",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_02__stack_cups_ep000019/actions_30fps.npz": "c58f3635a92890c01db76fb49fc68864985a4c35abc9c1a6b02efaa9b8c57c86",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_02__stack_cups_ep000019/poses.npz": "311b2da8bfc6d6cb12861fd93d55a4259221c278c6b613ad01267fe19b7c2059",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_02__stack_cups_ep000019/head_rgbd.mp4": "273854469fb33e6ca8738478a7e494df7c9b610d896c15db120d9f600e9dc8e5",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_02__stack_cups_ep000019/left_wrist_rgbd.mp4": "8749db08b0b92140a007394d0b52345f5c96df6941c07cf872d0c64a0a841cfa",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_02__stack_cups_ep000019/right_wrist_rgbd.mp4": "202bd9d958b3d7abefd465df243af86aedcce5d7ac0b427355d91f1a378e1553",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_contract.json": "fda6e0c04bbc2820f553586f92dbdfe2e2b7299e5f414e1722f74bd7579d23cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/request.json": "5beacd304afb949d370bfec6d2475b52c132b23c043258f2da86071fa550c39e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/render_config.json": "225f2eb4dc211b7ce0ea43c6858e88775f050db996c0b0d3ae325d4398fd6174",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/runs.json": "88c732d21375d974b536d8fcfa72f4f41d7bf2477c4ffab212defe85af9b88c6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/measured_cups.blend": "b1350ea0a701d335e4a10d3a4f62544a3c11892ff091d36531b50f6e504453df",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/camera_alignment.json": "2cca58b4cdd8a02c21e44812c9e487d96ce794640a1d267654c7abcca74d96cf",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/asset_manifest.json": "7351b4041a6284d26077a3ea1b918656fa611ae6725f39df65f418b51e673076",
+    "/pfs/yichen/desk_scene.blend": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/renderer.py": "af41dbfc2e7dc4dab4f9a930395d23c1db020152ab350d0ae7ec7cf0a0d626c5",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/camera.py": "921a8ad6184089db101a04ed47d3fa29b5bae7ec3964778de2d7b1e04e88c64f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/environment.py": "0298d1f7846bafcd3e83d58824ee520608045ffb544368a4450e47c850ad3a8f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/export_source.py": "d01ebb92636b695578555a4f3d9dd3a1c2a957d1ed582067546e59c9a83e8e27",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/run_task.py": "43148ad9484faf2a79fef1ef022c007d6ad5cf524913c83fd91d188520fcbfbc",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/assemble.py": "9f8643b65da8620bf7629f680c78170155a957f8c3bc524f8b2eed84efadafad",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/campaign.py": "3bd19b602dcb1dc74d676c063540fa5c0427383bbf6586676d2fbcb7ffa5e06c",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/resources.py": "dd15deab337f38835bf225293a04bc7d453cca028b3c8132009c92ac3744312f",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/dispatcher.py": "41c9a464dd1d0ef5976e681c752680f93a23ca9e41d75907b14cfd40c97ea532",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/transport.py": "16b3180afe0607c8903ae83e2172512188b50d2a53f0d7e9c0d5e62065cbf058",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/cup_library.py": "5ca7a887ce214eec690580bc82edeb7553e1b38c548bc3996694fc81156c056e",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/make_scene.py": "a8c4939aa6a30775e33d34ed565c3cb4835ff8c34e3b453c587ed4d1a7ff7eb6",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/source_arrays.py": "fad9b79aa5ec8a121667ea14240fb48cf30e254b9072328af0defe3501284c59",
+    "/pfs/yichen/rssr_data_enhance+causal_map/sim2-real2/s1_bgfit_v3/asset_library.py": "725dcddca5a14a6645fefa169325257d2ec09d634b24cfc38a59f7ee88c5939d"
+  },
+  "action_columns": [
+    {
+      "index": 0,
+      "name": "astribot_torso_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_1",
+      "actuator_name": "astribot_torso_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 1,
+      "name": "astribot_torso_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_2",
+      "actuator_name": "astribot_torso_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 2,
+      "name": "astribot_head_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_1",
+      "actuator_name": "astribot_head_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 3,
+      "name": "astribot_head_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_2",
+      "actuator_name": "astribot_head_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 4,
+      "name": "astribot_torso_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_3",
+      "actuator_name": "astribot_torso_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 5,
+      "name": "astribot_torso_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_4",
+      "actuator_name": "astribot_torso_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 6,
+      "name": "astribot_arm_left_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_1",
+      "actuator_name": "astribot_arm_left_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 7,
+      "name": "astribot_arm_left_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_2",
+      "actuator_name": "astribot_arm_left_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 8,
+      "name": "astribot_arm_left_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_3",
+      "actuator_name": "astribot_arm_left_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 9,
+      "name": "astribot_arm_left_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_4",
+      "actuator_name": "astribot_arm_left_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 10,
+      "name": "astribot_arm_left_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_5",
+      "actuator_name": "astribot_arm_left_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 11,
+      "name": "astribot_arm_left_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_6",
+      "actuator_name": "astribot_arm_left_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 12,
+      "name": "astribot_arm_left_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_7",
+      "actuator_name": "astribot_arm_left_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 13,
+      "name": "astribot_gripper_left_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_left_joint_L1",
+      "actuator_name": "astribot_gripper_left_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_left_split",
+      "coupled_target_joints": [
+        "astribot_gripper_left_joint_R1",
+        "astribot_gripper_left_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    },
+    {
+      "index": 14,
+      "name": "astribot_arm_right_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_1",
+      "actuator_name": "astribot_arm_right_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 15,
+      "name": "astribot_arm_right_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_2",
+      "actuator_name": "astribot_arm_right_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 16,
+      "name": "astribot_arm_right_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_3",
+      "actuator_name": "astribot_arm_right_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 17,
+      "name": "astribot_arm_right_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_4",
+      "actuator_name": "astribot_arm_right_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 18,
+      "name": "astribot_arm_right_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_5",
+      "actuator_name": "astribot_arm_right_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 19,
+      "name": "astribot_arm_right_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_6",
+      "actuator_name": "astribot_arm_right_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 20,
+      "name": "astribot_arm_right_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_7",
+      "actuator_name": "astribot_arm_right_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 21,
+      "name": "astribot_gripper_right_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_right_joint_L1",
+      "actuator_name": "astribot_gripper_right_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_right_split",
+      "coupled_target_joints": [
+        "astribot_gripper_right_joint_R1",
+        "astribot_gripper_right_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    }
+  ],
+  "state_projection": {
+    "names": [
+      "astribot_torso_joint_1",
+      "astribot_torso_joint_2",
+      "astribot_torso_joint_3",
+      "astribot_torso_joint_4",
+      "astribot_head_joint_1",
+      "astribot_head_joint_2",
+      "astribot_arm_left_joint_1",
+      "astribot_arm_left_joint_2",
+      "astribot_arm_left_joint_3",
+      "astribot_arm_left_joint_4",
+      "astribot_arm_left_joint_5",
+      "astribot_arm_left_joint_6",
+      "astribot_arm_left_joint_7",
+      "astribot_gripper_left_joint_L1",
+      "astribot_gripper_left_joint_L11",
+      "astribot_gripper_left_joint_L2",
+      "astribot_gripper_left_joint_R1",
+      "astribot_gripper_left_joint_R11",
+      "astribot_gripper_left_joint_R2",
+      "astribot_arm_right_joint_1",
+      "astribot_arm_right_joint_2",
+      "astribot_arm_right_joint_3",
+      "astribot_arm_right_joint_4",
+      "astribot_arm_right_joint_5",
+      "astribot_arm_right_joint_6",
+      "astribot_arm_right_joint_7",
+      "astribot_gripper_right_joint_L1",
+      "astribot_gripper_right_joint_L11",
+      "astribot_gripper_right_joint_L2",
+      "astribot_gripper_right_joint_R1",
+      "astribot_gripper_right_joint_R11",
+      "astribot_gripper_right_joint_R2"
+    ],
+    "qpos_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31
+    ],
+    "units": [
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad",
+      "rad"
+    ],
+    "nq": 46,
+    "nv": 44,
+    "nu": 22
+  },
+  "source_episode_sha256": "c1c2d36e7ebf5559e1c8f7757250fb19385979bc0dedf252537899f12f1ceb84",
+  "native_task_success": true,
+  "independent_rollout_and_hard_trace_exact": true,
+  "original_action_state_samples_exact": true,
+  "terminal_state_included": true,
+  "camera_clocks_fully_decoded": true,
+  "hardware_sdk_ready": false,
+  "renderer_episode": {
+    "source_id": "physical_02__stack_cups_ep000019",
+    "case_id": "stack_cups_ep000019",
+    "physical_index": 2,
+    "appearance_index": 0,
+    "attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00",
+    "native_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00",
+    "native_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/receipt.json",
+    "native_receipt_sha256": "64ad823460bcb700675087d72a46b27a159880ad1f9462198c896289a56bc41e",
+    "native_scene": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_02/cases/stack_cups_ep000019/attempt_00/execute/scene.xml",
+    "native_scene_sha256": "e84ab904e07693981e9200b0d5fa2b7d52dda0c756fc6a1daf8510351133b78a",
+    "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_02__stack_cups_ep000019",
+    "config": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/configs/physical_02__stack_cups_ep000019.json",
+    "frames": 1510,
+    "fps": 30,
+    "support_passed": true,
+    "lighting_seed": 2193479858,
+    "status": "verified_complete",
+    "videos": {
+      "head_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1510",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_02__stack_cups_ep000019/head_rgbd.mp4",
+        "sha256": "273854469fb33e6ca8738478a7e494df7c9b610d896c15db120d9f600e9dc8e5",
+        "bytes": 543235,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "left_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1510",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_02__stack_cups_ep000019/left_wrist_rgbd.mp4",
+        "sha256": "8749db08b0b92140a007394d0b52345f5c96df6941c07cf872d0c64a0a841cfa",
+        "bytes": 512957,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      },
+      "right_wrist_rgbd": {
+        "width": 224,
+        "height": 224,
+        "avg_frame_rate": "30/1",
+        "nb_read_frames": "1510",
+        "path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/episodes/physical_02__stack_cups_ep000019/right_wrist_rgbd.mp4",
+        "sha256": "202bd9d958b3d7abefd465df243af86aedcce5d7ac0b427355d91f1a378e1553",
+        "bytes": 521635,
+        "encoded_pictures_preserved": true,
+        "image_reencoding": false,
+        "normalized_decode_timestamps": true,
+        "decoder_reorder_lead_frames": 2,
+        "max_presentation_timestamp_error_s": 3.3333333604446125e-07
+      }
+    },
+    "actions": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/sources/physical_02__stack_cups_ep000019/actions_30fps.npz",
+    "action_sha256": "c58f3635a92890c01db76fb49fc68864985a4c35abc9c1a6b02efaa9b8c57c86",
+    "completed_at": "2026-10-17T00:04:24.122073+00:00",
+    "resolution": [
+      224,
+      224
+    ],
+    "source_asset_sha256": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+    "asset_blend": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017/assets/desk_scene_bgfit_v3_runtime.blend",
+    "render_config_sha256": "49f58046eb6f579c9b241350b9273e27ce0280ac5ceb1d7bc6199ecbf2ff49f4",
+    "source_original_asset_sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16",
+    "source_json_sha256": "5a731dd3cb299643729c64c841035cd508d4163fc49a1e2af65c9436b9b0abb1",
+    "complete_terminal_state_included": true,
+    "causal_action_clock_verified": true,
+    "lighting_recipe": {
+      "seed": 2193479858,
+      "lights": [
+        {
+          "name": "Alignment / lower panel indirect fill",
+          "position_m": [
+            0.012083572750596794,
+            0.47317281923772586,
+            0.6346664254352309
+          ],
+          "target_m": [
+            0.06575153564119485,
+            0.5445840773654935,
+            2.6338001540281586
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / broad left office softbox",
+          "position_m": [
+            1.5201963397546696,
+            0.7108887718114457,
+            2.984787561362447
+          ],
+          "target_m": [
+            0.22613364209683984,
+            0.17753958311316936,
+            1.3147293601002192
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / ceiling bounce",
+          "position_m": [
+            -0.14624304178301442,
+            0.6843107409086916,
+            2.66925746681908
+          ],
+          "target_m": [
+            -0.0891231144021796,
+            0.2357499366591646,
+            0.699905122505123
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / soft camera-side fill",
+          "position_m": [
+            0.5329807167544098,
+            -2.57090606120155,
+            1.703216479710626
+          ],
+          "target_m": [
+            0.16625395049176084,
+            -0.8252454562588903,
+            0.9212036248666207
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        },
+        {
+          "name": "Light / low room bounce",
+          "position_m": [
+            0.09214018923074069,
+            -0.8873874767099157,
+            1.0183293109839913
+          ],
+          "target_m": [
+            -0.04599959997206082,
+            1.1470048856641244,
+            0.946939534836813
+          ],
+          "power_scale": 1.0,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_scale": 1.0
+        }
+      ],
+      "added_lights": [
+        {
+          "name": "s1_heightfit_added_0",
+          "position_m": [
+            0.481912759049721,
+            -0.043741868353629254,
+            2.1129690780764796
+          ],
+          "target_m": [
+            -0.22604861020071482,
+            0.004948771549240949,
+            0.8127261886123087
+          ],
+          "power_w": 14.326984435775097,
+          "color": [
+            1.0,
+            1.0,
+            1.0
+          ],
+          "size_m": 1.5810295756037118
+        }
+      ]
+    },
+    "camera_alignment": {
+      "schema": "rssr.s1_heightfit.camera_alignment.v2",
+      "experiment": "s1_heightfit_3x1_20261017",
+      "status": "aligned",
+      "production_ready": true,
+      "table_baseline_m": 0.8,
+      "table_baseline": {
+        "top_z_m": 0.8,
+        "center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "half_xy_m": [
+          0.6,
+          0.3
+        ]
+      },
+      "height_authorization": "User explicitly requested changing tabletop height to achieve alignment; original0.95m is superseded for this simulator campaign.",
+      "height_selection": "0.80m balances approximate reference alignment and a collision-free0.75–0.85m augmentation envelope; fitted hardware height is not claimed.",
+      "cameras": {
+        "head_rgbd": {
+          "pos": [
+            0.022619845171147547,
+            -0.2400460318505255,
+            -0.045246823885230464
+          ],
+          "quat": [
+            0.08606233952483466,
+            0.7114492396588586,
+            0.07501575505710205,
+            -0.6934016798346807
+          ],
+          "fovy": 46.68734463653697,
+          "reference_fovy_deg": 46.68734463653697,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 74.99365341164304,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "parent_body": "astribot_head_link_2",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": -0.55
+        },
+        "left_wrist_rgbd": {
+          "pos": [
+            0.006744568667666906,
+            0.1464328753067978,
+            0.07665232327016308
+          ],
+          "quat": [
+            0.009566690715288284,
+            0.034474550449605006,
+            0.685282734400536,
+            0.7273977988230236
+          ],
+          "fovy": 54.222198704777604,
+          "reference_fovy_deg": 54.222198704777604,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 84.61501072235728,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            0.3199734618889353,
+            -0.3866329842091521,
+            1.0029182651508828
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9978976766778948,
+              -5.012789991490314e-05,
+              0.0648091379980808
+            ],
+            [
+              0.06407827207165417,
+              -0.15052229818248108,
+              0.9865277557160651
+            ],
+            [
+              0.009705767830094898,
+              0.9886066129846891,
+              0.15020906375372425
+            ]
+          ],
+          "parent_body": "arm_left_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.65
+        },
+        "right_wrist_rgbd": {
+          "pos": [
+            -0.005538238890151263,
+            0.1613074787955398,
+            0.0736131169684578
+          ],
+          "quat": [
+            -0.02961458926172238,
+            -0.056056253908770524,
+            0.7044950778034461,
+            0.7068715285335033
+          ],
+          "fovy": 48.45549063590859,
+          "reference_fovy_deg": 48.45549063590859,
+          "reference_aspect": 1.7777777777777777,
+          "fovy_deg": 77.31961650818052,
+          "position_in_camera_m": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "quaternion_in_camera_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "baseline_world_position_m": [
+            -0.28734405752041364,
+            -0.32887338433762514,
+            1.0166738161950089
+          ],
+          "baseline_world_rotation": [
+            [
+              -0.9749519204965966,
+              -0.03394800964694158,
+              -0.2198096571149888
+            ],
+            [
+              -0.21120833263148694,
+              -0.16844800897741388,
+              0.9628168613493286
+            ],
+            [
+              -0.06971221519235292,
+              0.9851257792345891,
+              0.15705860734266947
+            ]
+          ],
+          "parent_body": "arm_right_tool_cam",
+          "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+          "exposure_offset_ev": 0.5
+        }
+      },
+      "source_environment": {
+        "path": "/pfs/yichen/desk_scene.blend",
+        "sha256": "8f0e4fd1dff2a21acdef1eaac117d55bb8094fa741689304d3cb9732550d1f16"
+      },
+      "references": {
+        "head": {
+          "path": "/pfs/yichen/head.png",
+          "sha256": "2dea8a4d875d54d3052aa772adde64412b8dff43adb9289fcced03a00215c4fe"
+        },
+        "left": {
+          "path": "/pfs/yichen/left.png",
+          "sha256": "b8635e72558abe414d9091bd3ff1bc6bb9eae680cf34922ed27f7b762760ae4c"
+        },
+        "right": {
+          "path": "/pfs/yichen/right.png",
+          "sha256": "df70afbbcc6819caf439b852e756edd28ed28e911520ba843641b6d1ef4bbb33"
+        }
+      },
+      "initial_pose": {
+        "path": "/pfs/yichen/s1_current_pose_20261016_230445.json",
+        "sha256": "4bcbb1eed890d72f8020ab81374200422e9920e7239bfb0ea40a4cb009be3d4b",
+        "all20_head_torso4_arm_joint_angles_preserved": true,
+        "sdk_gripper_mapping": "Nominal0=open100=closed -> remaining geometric aperture; hardware calibration unavailable."
+      },
+      "shared_room_fit": {
+        "schema": "rssr.s1.shared_room_camera_fit.v1",
+        "tabletop_z_m": 0.8,
+        "wall_y_m": 0.365223429825541,
+        "seam_x_m": [
+          -0.6149551180056824,
+          0.44059396623138153
+        ],
+        "success": true,
+        "wrists": {
+          "left_wrist_rgbd": {
+            "position_native_world_m": [
+              0.3199734618889353,
+              -0.3866329842091521,
+              1.0029182651508828
+            ],
+            "rotation_native_world": [
+              [
+                -0.9978976766778948,
+                -5.012789991490314e-05,
+                0.0648091379980808
+              ],
+              [
+                0.06407827207165417,
+                -0.15052229818248108,
+                0.9865277557160651
+              ],
+              [
+                0.009705767830094898,
+                0.9886066129846891,
+                0.15020906375372425
+              ]
+            ],
+            "reference_fovy_deg": 54.222198704777604,
+            "focal_px": 351.5828765549533
+          },
+          "right_wrist_rgbd": {
+            "position_native_world_m": [
+              -0.28734405752041364,
+              -0.32887338433762514,
+              1.0166738161950089
+            ],
+            "rotation_native_world": [
+              [
+                -0.9749519204965966,
+                -0.03394800964694158,
+                -0.2198096571149888
+              ],
+              [
+                -0.21120833263148694,
+                -0.16844800897741388,
+                0.9628168613493286
+              ],
+              [
+                -0.06971221519235292,
+                0.9851257792345891,
+                0.15705860734266947
+              ]
+            ],
+            "reference_fovy_deg": 48.45549063590859,
+            "focal_px": 399.9999999999977
+          }
+        },
+        "head_fit": {
+          "schema": "rssr.s1.heightfit.head.v1",
+          "tabletop_z_m": 0.8000000099999999,
+          "table_center_xy_m": [
+            -0.028675198314140744,
+            -0.7152676486019908
+          ],
+          "table_half_xy_m": [
+            0.6,
+            0.3
+          ],
+          "cup_centers_xy_m": [
+            [
+              0.2649023407571988,
+              -0.7247601502042893
+            ],
+            [
+              -0.2601612665026171,
+              -0.6654370645044115
+            ]
+          ],
+          "camera_world_position_m": [
+            -0.04029723767845193,
+            -0.2581808797104311,
+            1.5504909827914213
+          ],
+          "camera_world_rotation": [
+            [
+              -0.9984142280986754,
+              0.04085612642488199,
+              -0.03872732967401701
+            ],
+            [
+              -0.05556244110544098,
+              -0.8257494397412113,
+              0.5612937536669012
+            ],
+            [
+              -0.009046782219681242,
+              0.5625554547781308,
+              0.8267100556004142
+            ]
+          ],
+          "reference_fovy_deg": 46.68734463653697,
+          "focal_px": 834.1598929781229,
+          "optimizer_success": true,
+          "cost": 20.05235807868658,
+          "head_camera_translation_from_previous_native_m": [
+            -0.017806766651739234,
+            0.009488446576838838,
+            0.04476816414466045
+          ],
+          "hand_landmarks_approx_px": [
+            [
+              208.0,
+              483.0
+            ],
+            [
+              297.0,
+              491.0
+            ],
+            [
+              894.0,
+              553.0
+            ],
+            [
+              987.0,
+              557.0
+            ]
+          ],
+          "hand_projection_px": [
+            [
+              201.9607084551119,
+              472.97423212126085
+            ],
+            [
+              296.23254453113276,
+              479.43942855616905
+            ],
+            [
+              903.3472168857206,
+              563.8407002841916
+            ],
+            [
+              985.5307315500208,
+              560.5886774204085
+            ]
+          ],
+          "hand_pixel_rms": 7.835444032514649,
+          "residual": [
+            -0.45012517991762024,
+            1.377035062873991,
+            0.34848196266587667,
+            0.6801771351374649,
+            -0.5310568309142119,
+            -0.6919193704735807,
+            -0.655834570057948,
+            0.6298907745122335,
+            1.9109891226887186,
+            2.9705251337873335,
+            2.0561068064276165,
+            -3.2570115064834604,
+            -0.917470603454016,
+            0.4563487144657188,
+            0.642519886373492,
+            1.9382877526186917,
+            3.2255123270471415,
+            -0.9474025319959006,
+            -5.775717912737321,
+            -0.6715152992222025,
+            -0.5032742954073418,
+            -0.8354806565615954,
+            -0.06395462240560335,
+            -0.9633809536525794,
+            0.778934740476719,
+            0.9033916903492999,
+            -0.12243903749826283,
+            0.299056451700712,
+            -0.17806766651739234,
+            0.09488446576838838,
+            0.4476816414466045,
+            -0.14337599157070371,
+            0.17366175699004616,
+            0.12289973244530727
+          ],
+          "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+          "limitations": [
+            "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+            "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+          ]
+        },
+        "shared_world": true,
+        "method": "Cup rim/base, shared table back edge and shared vertical wall seam lines; fixed measured robot kinematics.",
+        "fit_revision": "Shared82cm fit followed by user-authorized80cm table-height refinement; wrist cameras translated with cup/table geometry to lift fixed robot foreground into reference frame. Right seam adjusted+7cm based on shared three-view render review.",
+        "initial_shared_fit_cost": 74.80530488066681
+      },
+      "head_fit": {
+        "schema": "rssr.s1.heightfit.head.v1",
+        "tabletop_z_m": 0.8000000099999999,
+        "table_center_xy_m": [
+          -0.028675198314140744,
+          -0.7152676486019908
+        ],
+        "table_half_xy_m": [
+          0.6,
+          0.3
+        ],
+        "cup_centers_xy_m": [
+          [
+            0.2649023407571988,
+            -0.7247601502042893
+          ],
+          [
+            -0.2601612665026171,
+            -0.6654370645044115
+          ]
+        ],
+        "camera_world_position_m": [
+          -0.04029723767845193,
+          -0.2581808797104311,
+          1.5504909827914213
+        ],
+        "camera_world_rotation": [
+          [
+            -0.9984142280986754,
+            0.04085612642488199,
+            -0.03872732967401701
+          ],
+          [
+            -0.05556244110544098,
+            -0.8257494397412113,
+            0.5612937536669012
+          ],
+          [
+            -0.009046782219681242,
+            0.5625554547781308,
+            0.8267100556004142
+          ]
+        ],
+        "reference_fovy_deg": 46.68734463653697,
+        "focal_px": 834.1598929781229,
+        "optimizer_success": true,
+        "cost": 20.05235807868658,
+        "head_camera_translation_from_previous_native_m": [
+          -0.017806766651739234,
+          0.009488446576838838,
+          0.04476816414466045
+        ],
+        "hand_landmarks_approx_px": [
+          [
+            208.0,
+            483.0
+          ],
+          [
+            297.0,
+            491.0
+          ],
+          [
+            894.0,
+            553.0
+          ],
+          [
+            987.0,
+            557.0
+          ]
+        ],
+        "hand_projection_px": [
+          [
+            201.9607084551119,
+            472.97423212126085
+          ],
+          [
+            296.23254453113276,
+            479.43942855616905
+          ],
+          [
+            903.3472168857206,
+            563.8407002841916
+          ],
+          [
+            985.5307315500208,
+            560.5886774204085
+          ]
+        ],
+        "hand_pixel_rms": 7.835444032514649,
+        "residual": [
+          -0.45012517991762024,
+          1.377035062873991,
+          0.34848196266587667,
+          0.6801771351374649,
+          -0.5310568309142119,
+          -0.6919193704735807,
+          -0.655834570057948,
+          0.6298907745122335,
+          1.9109891226887186,
+          2.9705251337873335,
+          2.0561068064276165,
+          -3.2570115064834604,
+          -0.917470603454016,
+          0.4563487144657188,
+          0.642519886373492,
+          1.9382877526186917,
+          3.2255123270471415,
+          -0.9474025319959006,
+          -5.775717912737321,
+          -0.6715152992222025,
+          -0.5032742954073418,
+          -0.8354806565615954,
+          -0.06395462240560335,
+          -0.9633809536525794,
+          0.778934740476719,
+          0.9033916903492999,
+          -0.12243903749826283,
+          0.299056451700712,
+          -0.17806766651739234,
+          0.09488446576838838,
+          0.4476816414466045,
+          -0.14337599157070371,
+          0.17366175699004616,
+          0.12289973244530727
+        ],
+        "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+        "limitations": [
+          "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+          "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+        ]
+      },
+      "limitations": [
+        "Visual pinhole and material/geometry reconstruction, not hardware camera calibration.",
+        "Manual cup/finger/wall landmarks and source camera distortion limit exact pixel matching.",
+        "All three sensors render the same shared room geometry/materials and world lights.",
+        "Cup height9cm and bottom5.85cm remain documented priors."
+      ],
+      "camera_response_note": "Fixed per-camera exposure estimates model different sensor captures; room geometry/materials/lights remain shared.",
+      "render_policy": "Reference16:9 previews; production224square expands vertical coverage preserving horizontal FOV, no padding or deformation.",
+      "visual_review": {
+        "method": "Agent inspected all3 final64-sample reference views against supplied photos; shared room geometry and fixed parent mounts accepted as approximate visual alignment.",
+        "hardware_camera_calibration": false,
+        "reviewed_reference_samples": 64,
+        "tabletop_baseline_m": 0.8,
+        "preview_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/room_review_final80_64/preview_receipt.json",
+        "preview_receipt_sha256": "2e2d699bf79e73d82c07118814d1fc0669b465b6bd415c4278310cfdedef6ad0",
+        "strict_idle_b200_verification": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/diagnostics/gpu_preflight_1792175018743286715/verification.json",
+        "strict_idle_b200_verification_sha256": "f35bdf0f81c73bd6a96d5460e6a17eea28ea3b87ccd7db2ffa7984109eecb350",
+        "source_pose_joint_values_unchanged": true,
+        "limitations_preserved": true
+      }
+    },
+    "hardware_sdk_ready": false,
+    "assembly_revision": "uniform_decode_timestamps_v4_no_picture_reencoding"
+  }
+}

150case_data_enhance_blender_v2/manifest.json

@@ -11,9 +11,9 @@
   },
   "path_in_repo": "150case_data_enhance_blender_v2",
   "dataset_path": "dataset/s1_stack_cups_real2_three_view_video",
-  "episodes": 51,
-  "frames": 70470,
-  "videos": 153,
+  "episodes": 55,
+  "frames": 75809,
+  "videos": 165,
   "expected_episodes": 150,
   "full_campaign_complete": false,
   "source_batch": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017",