diff --git a/150case_data_enhance_blender_v2_trajectory_refine/README.md b/150case_data_enhance_blender_v2_trajectory_refine/README.md
index 6fe61f935bb0b01c38e591eb86daa16df189ca7e..9f3051cd9db3b0937d4e2a573acec4c0f16aaeed 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/README.md
+++ b/150case_data_enhance_blender_v2_trajectory_refine/README.md
@@ -1,10 +1,10 @@
# S1 cup stacking — previous filter and trajectory refinement (LeRobot v2.1)
-**104 episodes, 141341 frames, 312 videos**.
+**105 episodes, 142823 frames, 315 videos**.
Target: `starry0929/rssr/150case_data_enhance_blender_v2_trajectory_refine`. Source `150case_data_enhance_blender_v2` is preserved.
This selected dataset contains **92 original-clean trajectories from the previous filter**
-and **12 newly refined trajectories** (19 in the frozen refined batch).
+and **13 newly refined trajectories** (19 in the frozen refined batch).
Each physical group + source case appears once. The former150 attempts /139 accepted source
campaign are provenance counts, not the number of episodes in this selected dataset.
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+}
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+ "astribot_gripper_left_joint_L11": 0.0,
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+ "astribot_gripper_right_joint_R2": 0.0
+ },
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+ "astribot_arm_right_joint_6": 0.0,
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+ "maximum_gripper_excess_rad": 0.0,
+ "maximum_non_gripper_excess_native_units": 0.0,
+ "manual_inspection_required": false
+ }
+ },
+ "judgment_version": "task_completion_v1",
+ "runtime_audit": {
+ "directory": "/pfs/yichen/rssr_data_enhance+causal_map/sim1-sim2/s1_first_grasp_v6/rssr_augment/vendor/runtime",
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+ "event_command_overlay_enabled": false,
+ "gripper_limit_peak_source": "every physical step; contiguous >2mrad episodes per joint and bound"
+ },
+ "gripper_limit_peak_events": []
+}
\ No newline at end of file
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/execute/rollout.npz b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/execute/rollout.npz
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/execute/strict_v1_task_evaluation.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/execute/strict_v1_task_evaluation.json
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+ "contract_id": "0f1f035397ed1d998a383f091d1c9d217c6408aaa9631e1850b97ed04d8e1725",
+ "task_id": "dm7",
+ "geometry_evaluation": "sphere_analytic_v1",
+ "task_success": true,
+ "hard_constraints": {
+ "robot_table_penetration_le_3mm": true,
+ "limited_joints_within_2mrad_or_2mm": true,
+ "solver_no_warnings": true,
+ "waist_coupling_within_1mrad": true,
+ "gripper_coupling_within_2mrad": true
+ },
+ "predicates": [
+ {
+ "id": "lift_with_contact_00",
+ "kind": "lift_with_contact",
+ "passed": true,
+ "measurements": {
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+ "measurements": {
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+ "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+ "maximum_relation_violation_m": 0.0
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+ },
+ {
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+ "kind": "cup_nested",
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+ "maximum_relation_violation_m": 0.0
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+ {
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+ }
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+ {
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+ "kind": "base_placed_before_stack",
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+ "measurements": {
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+ "first_upper_supported_contact_s": 46.95000000004215,
+ "order_observable": true,
+ "basis": "first qualifying simulator states; a missing event is not a reversed order"
+ }
+ },
+ {
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+ "kind": "stable",
+ "passed": true,
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/execute/task_contract.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/execute/task_contract.json
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+{
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+ },
+ {
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+ "support": "cup_left_base",
+ "window_s": 0.2,
+ "minimum_fraction": 0.8
+ },
+ {
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+ "base": "cup_left_base",
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+ "region": "stack_region",
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+ {
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+ "objects": [
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+ ],
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+ }
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+ "geometry_evaluation": "sphere_analytic_v1",
+ "sim1_success_required": false,
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+ "hard_constraints": [
+ "robot_table_penetration_le_3mm",
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+ "waist_coupling_within_1mrad",
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+ ],
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+ "contract_id": "0f1f035397ed1d998a383f091d1c9d217c6408aaa9631e1850b97ed04d8e1725"
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/issued_robot_commands.npz b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/issued_robot_commands.npz
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+ "source_scene": {
+ "schema": "rssr.scene.v2",
+ "task_id": "dm7",
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+ "shape": "cup",
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+ ],
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+ 0.55
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+ "evidence": "User 8 cm tapered top diameter; inherited 9 cm height and 5.85 cm bottom/wall/mass priors, identical cups.",
+ "mass_kg": 0.06,
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+ "id": "cup_right_upper",
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+ ],
+ "mobility": "free",
+ "parent_id": null,
+ "support_id": "table",
+ "head_center": [
+ 0.84,
+ 0.55
+ ],
+ "evidence": "User 8 cm tapered top diameter; inherited 9 cm height and 5.85 cm bottom/wall/mass priors, identical cups.",
+ "mass_kg": 0.06,
+ "wall_m": 0.0015
+ },
+ {
+ "id": "stack_region",
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+ 0.05,
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+ 0.0
+ ],
+ "mobility": "static",
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+ "support_id": "table",
+ "head_center": [
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+ 0.608
+ ],
+ "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+ "mass_kg": 0.001
+ }
+ ],
+ "bindings": {
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+ "cup_left_base",
+ "cup_right_upper"
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+ "containers": [],
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+ "target_region": "stack_region",
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+ "stack_hands": {
+ "base": "left",
+ "upper": "right"
+ }
+ }
+ },
+ "augmented_scene": {
+ "schema": "rssr.scene.v2",
+ "task_id": "dm7",
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+ {
+ "id": "cup_left_base",
+ "shape": "cup",
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+ "mobility": "free",
+ "parent_id": null,
+ "support_id": "table",
+ "head_center": [
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+ "evidence": "User 8 cm tapered top diameter; inherited 9 cm height and 5.85 cm bottom/wall/mass priors, identical cups.",
+ "mass_kg": 0.06,
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+ },
+ {
+ "id": "cup_right_upper",
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+ ],
+ "mobility": "free",
+ "parent_id": null,
+ "support_id": "table",
+ "head_center": [
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+ ],
+ "evidence": "User 8 cm tapered top diameter; inherited 9 cm height and 5.85 cm bottom/wall/mass priors, identical cups.",
+ "mass_kg": 0.06,
+ "wall_m": 0.0015
+ },
+ {
+ "id": "stack_region",
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+ ],
+ "mobility": "static",
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+ "support_id": "table",
+ "head_center": [
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+ ],
+ "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
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+ }
+ ],
+ "bindings": {
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+ "cup_right_upper"
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+ "stack_hands": {
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+ "upper": "right"
+ }
+ }
+ },
+ "object_shapes_masses_friction_unchanged": false,
+ "task_bindings_unchanged": true,
+ "physical_success_verified": false,
+ "robot": "S1",
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+ "height_bottom_diameter_wall_mass_are_priors": true
+ },
+ "source_scene_before_cup_correction": {
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+ "task_id": "dm7",
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+ {
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+ "shape": "cup",
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+ ],
+ "mobility": "free",
+ "parent_id": null,
+ "support_id": "table",
+ "head_center": [
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+ 0.55
+ ],
+ "evidence": "Real1 head first frame: left kraft paper cup; larger lower collision shell approximates taper for nesting.",
+ "mass_kg": 0.06,
+ "wall_m": 0.003
+ },
+ {
+ "id": "cup_right_upper",
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+ ],
+ "mobility": "free",
+ "parent_id": null,
+ "support_id": "table",
+ "head_center": [
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+ 0.55
+ ],
+ "evidence": "Real1 head first frame: right kraft paper cup; smaller upper collision shell approximates taper for nesting.",
+ "mass_kg": 0.06,
+ "wall_m": 0.003
+ },
+ {
+ "id": "stack_region",
+ "shape": "region",
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+ "mobility": "static",
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+ "support_id": "table",
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+ "evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
+ "mass_kg": 0.001
+ }
+ ],
+ "bindings": {
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+ "cup_right_upper"
+ ],
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+ "articulation": null,
+ "stack_hands": {
+ "base": "left",
+ "upper": "right"
+ }
+ }
+ },
+ "measured_pose_path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/reference_inputs/s1_current_pose_20261016_230445.json",
+ "sdk_gripper_angle_mapping_verified": false,
+ "task_object_ids_and_goal_order_preserved": true
+}
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/receipt.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee1f5216f427f80bde5ab7be6daf10776002dc9e
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/receipt.json
@@ -0,0 +1,23306 @@
+{
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+ "case_id": "stack_cups_ep000014",
+ "strategy_seq": 343000,
+ "strategy_sha256": "29095d7ecaf0e5d267f9eecdf5cc79e4b078207ab091f8f2d289488bf38b5436",
+ "agent_version": "rssr.retarget.unified_event_agent.v35.luna_general_full150.v127_native_step_preview_seq342",
+ "baseline_scene_sha256": "8c0a14d9c39fb1a168b5352f8d8116551b2e2ff28bae44e58bbb579b129e87c6",
+ "mobile_scene_sha256": "8c0a14d9c39fb1a168b5352f8d8116551b2e2ff28bae44e58bbb579b129e87c6",
+ "s1_virtual_planar_base_experiment_enabled": false,
+ "mobile_plan_budget": 6,
+ "mobile_capability_plan_records": [],
+ "baseline_command_targets_sha256": "d42b0bebc85cdd2142c8dc632391914523cf36510e2bc7845bf66b7376fc5a2a",
+ "event_history": [
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+ "selected_object_id": "cup_left_base",
+ "selected_hand": "left",
+ "rule_policy_sha256": "eb8a35795cdd6cfa29b37d5f348c7ffcfd42e814e27b0381a81758dd82319d29",
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+ "solver_warning_count": 0,
+ "hard_constraints": {
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+ "gripper_coupling_within_2mrad": true,
+ "cross_arm_penetration_le_3mm": true,
+ "robot_scene_penetration_le_3mm": true,
+ "chassis_world_position_fixed_10nm": true,
+ "chassis_world_orientation_fixed_1e8": true
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+ "base_placed_before_stack_05": {
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+ "hard_constraints": {
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+ "solver_no_warnings": true,
+ "waist_coupling_within_1mrad": true,
+ "gripper_coupling_within_2mrad": true,
+ "cross_arm_penetration_le_3mm": true,
+ "robot_scene_penetration_le_3mm": true,
+ "chassis_world_position_fixed_10nm": true,
+ "chassis_world_orientation_fixed_1e8": true
+ },
+ "all_hard_passed": true,
+ "measurements_valid": true,
+ "scope": "cumulative supplied physical observations; caller must supply every step",
+ "physical_observations": 2001,
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+ "instantaneous_gripper_coupling_residual_rad": 1.891671430331865e-06,
+ "finger_contact": {
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+ "right": [
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+ ]
+ },
+ "cup_right_upper": {
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+ }
+ },
+ "hand_contact": {
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+ "gripper_scene_contacts": {
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+ "right": []
+ },
+ "live_predicates": {
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+ "window_s": 0.2,
+ "passed": false,
+ "measurements": {
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+ "hand_contact": false
+ }
+ },
+ "lift_with_contact_01": {
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+ }
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+ }
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+ "measurements": {
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+ }
+ },
+ "object_contact_04": {
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+ "window_complete": true,
+ "window_s": 0.2,
+ "passed": false,
+ "measurements": {}
+ },
+ "base_placed_before_stack_05": {
+ "kind": "base_placed_before_stack",
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+ "instantaneous_margin": -1.0,
+ "window_complete": true,
+ "window_s": 0.2,
+ "passed": false,
+ "measurements": {}
+ },
+ "stable_06": {
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+ "window_complete": true,
+ "window_s": 1.0,
+ "passed": true,
+ "measurements": {
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+ },
+ "released_07": {
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+ "astribot_arm_right_joint_4": 0.0,
+ "astribot_arm_right_joint_5": 0.0,
+ "astribot_arm_right_joint_6": 0.0,
+ "astribot_arm_right_joint_7": 0.0
+ },
+ "maximum_gripper_excess_rad": 0.0,
+ "maximum_non_gripper_excess_native_units": 0.0,
+ "manual_inspection_required": false
+ }
+ },
+ "judgment_version": "task_completion_v1",
+ "runtime_audit": {
+ "directory": "/pfs/yichen/rssr_data_enhance+causal_map/sim1-sim2/s1_first_grasp_v6/rssr_augment/vendor/runtime",
+ "pilot_physics_sha256": "6047d6c0ebfc762fc3017dcbe34b4eb72a15fbf6b5aaf00d4f831ac2c51640a9",
+ "event_command_overlay_enabled": false,
+ "gripper_limit_peak_source": "every physical step; contiguous >2mrad episodes per joint and bound"
+ },
+ "gripper_limit_peak_events": []
+}
\ No newline at end of file
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/rollout.npz b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/rollout.npz
new file mode 100644
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+size 4116421
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/scene.xml b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/scene.xml
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index 0000000000000000000000000000000000000000..8a3423147bd0aeef18fc86e08b6afbb2a7beca8d
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/strict_v1_task_evaluation.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/strict_v1_task_evaluation.json
new file mode 100644
index 0000000000000000000000000000000000000000..b75600e30e70be8e4adf0f90aa941cda8e454b38
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/strict_v1_task_evaluation.json
@@ -0,0 +1,138 @@
+{
+ "schema": "rssr.task.evaluation.v1",
+ "contract_id": "0f1f035397ed1d998a383f091d1c9d217c6408aaa9631e1850b97ed04d8e1725",
+ "task_id": "dm7",
+ "geometry_evaluation": "sphere_analytic_v1",
+ "task_success": true,
+ "hard_constraints": {
+ "robot_table_penetration_le_3mm": true,
+ "limited_joints_within_2mrad_or_2mm": true,
+ "solver_no_warnings": true,
+ "waist_coupling_within_1mrad": true,
+ "gripper_coupling_within_2mrad": true
+ },
+ "predicates": [
+ {
+ "id": "lift_with_contact_00",
+ "kind": "lift_with_contact",
+ "passed": true,
+ "measurements": {
+ "max_lift_m": 0.07254727126268068,
+ "max_lift_with_hand_contact_m": 0.07254727126268068
+ }
+ },
+ {
+ "id": "lift_with_contact_01",
+ "kind": "lift_with_contact",
+ "passed": true,
+ "measurements": {
+ "max_lift_m": 0.10994818227312997,
+ "max_lift_with_hand_contact_m": 0.10994818227312997
+ }
+ },
+ {
+ "id": "inside_region_02",
+ "kind": "inside_region",
+ "passed": true,
+ "measurements": {
+ "reference_frame": "reference_object_local",
+ "reference_object": "stack_region",
+ "object": "cup_left_base",
+ "evaluation_window_source_time_s": [
+ 49.15000000005266,
+ 49.340000000053564
+ ],
+ "final_reference_axes_in_world": [
+ [
+ 1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
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+ ],
+ "final_object_extent_min_m": [
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+ -0.04164728379788474,
+ -0.001800005638216251
+ ],
+ "final_object_extent_max_m": [
+ 0.043741109720432866,
+ 0.043497990355776395,
+ 0.08819999492189001
+ ],
+ "final_signed_xy_clearance_m": [
+ 0.04825889027956713,
+ 0.03850200964422361
+ ],
+ "measurement_basis": "same bounding extents, frame, tolerance and window as the frozen predicate",
+ "maximum_relation_violation_m": 0.0
+ }
+ },
+ {
+ "id": "cup_nested_03",
+ "kind": "cup_nested",
+ "passed": true,
+ "measurements": {
+ "support_policy": "cup_nesting_v1",
+ "minimum_radial_clearance_m": 0.004499933808147511,
+ "minimum_floor_clearance_m": 0.012343279241197214,
+ "floor_penetration_tolerance_m": 0.0005,
+ "floor_penetration_excess_m": 0.0,
+ "minimum_overlap_clearance_m": 0.06115659034260949,
+ "maximum_relation_violation_m": 0.0
+ }
+ },
+ {
+ "id": "object_contact_04",
+ "kind": "object_contact",
+ "passed": true,
+ "measurements": {
+ "contact_fraction": 1.0
+ }
+ },
+ {
+ "id": "base_placed_before_stack_05",
+ "kind": "base_placed_before_stack",
+ "passed": true,
+ "measurements": {
+ "base_placement_observed": true,
+ "stack_contact_observed": true,
+ "first_base_placed_s": 20.679999999997154,
+ "first_upper_supported_contact_s": 46.95000000004215,
+ "order_observable": true,
+ "basis": "first qualifying simulator states; a missing event is not a reversed order"
+ }
+ },
+ {
+ "id": "stable_06",
+ "kind": "stable",
+ "passed": true,
+ "measurements": {
+ "maximum_motion_m": 5.405679427836933e-06
+ }
+ },
+ {
+ "id": "released_07",
+ "kind": "released",
+ "passed": true,
+ "measurements": {}
+ }
+ ],
+ "failed_predicates": [],
+ "hard_failures": [],
+ "rank": [
+ 0,
+ 0
+ ],
+ "state_source": "simulator_numeric_trace",
+ "render_calls": 0
+}
\ No newline at end of file
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/task_contract.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b91c30d204ffc170db616a76b5b201c4815688
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/task_contract.json
@@ -0,0 +1,101 @@
+{
+ "schema": "rssr.task.contract.v1",
+ "task_id": "dm7",
+ "scene_sha256": "0ca9d19c0d2d62bd0a1b84767911cce4190149d507ab903d4b324a3d2437f20f",
+ "bindings": {
+ "targets": [
+ "cup_left_base",
+ "cup_right_upper"
+ ],
+ "containers": [],
+ "excluded": [],
+ "particles": [],
+ "target_region": "stack_region",
+ "articulation": null,
+ "stack_hands": {
+ "base": "left",
+ "upper": "right"
+ }
+ },
+ "predicates": [
+ {
+ "id": "lift_with_contact_00",
+ "kind": "lift_with_contact",
+ "object": "cup_left_base",
+ "hand": "left",
+ "height_m": 0.025
+ },
+ {
+ "id": "lift_with_contact_01",
+ "kind": "lift_with_contact",
+ "object": "cup_right_upper",
+ "hand": "right",
+ "height_m": 0.025
+ },
+ {
+ "id": "inside_region_02",
+ "kind": "inside_region",
+ "object": "cup_left_base",
+ "region": "stack_region",
+ "tolerance_m": 0.002
+ },
+ {
+ "id": "cup_nested_03",
+ "kind": "cup_nested",
+ "object": "cup_right_upper",
+ "support": "cup_left_base",
+ "radial_tolerance_m": 0.006,
+ "minimum_depth_m": 0.015,
+ "maximum_tilt_degrees": 15.0,
+ "floor_penetration_tolerance_m": 0.0005
+ },
+ {
+ "id": "object_contact_04",
+ "kind": "object_contact",
+ "object": "cup_right_upper",
+ "support": "cup_left_base",
+ "window_s": 0.2,
+ "minimum_fraction": 0.8
+ },
+ {
+ "id": "base_placed_before_stack_05",
+ "kind": "base_placed_before_stack",
+ "base": "cup_left_base",
+ "upper": "cup_right_upper",
+ "region": "stack_region",
+ "support_policy": "cup_nesting_v2_contact_tolerance",
+ "floor_penetration_tolerance_m": 0.0005
+ },
+ {
+ "id": "stable_06",
+ "kind": "stable",
+ "objects": [
+ "cup_left_base",
+ "cup_right_upper"
+ ],
+ "window_s": 1.0,
+ "max_motion_m": 0.003
+ },
+ {
+ "id": "released_07",
+ "kind": "released",
+ "objects": [
+ "cup_left_base",
+ "cup_right_upper"
+ ],
+ "window_s": 1.0
+ }
+ ],
+ "geometry_evaluation": "sphere_analytic_v1",
+ "sim1_success_required": false,
+ "objects_forced_allowed": false,
+ "hard_constraints": [
+ "robot_table_penetration_le_3mm",
+ "limited_joints_within_2mrad_or_2mm",
+ "solver_no_warnings",
+ "waist_coupling_within_1mrad",
+ "gripper_coupling_within_2mrad"
+ ],
+ "model_fidelity_policy": "v17; simulation assumption, not hardware calibration",
+ "contract_id": "0f1f035397ed1d998a383f091d1c9d217c6408aaa9631e1850b97ed04d8e1725"
+}
\ No newline at end of file
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/s1_command_initialization.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/s1_command_initialization.json
new file mode 100644
index 0000000000000000000000000000000000000000..efd19df62a88ebf6398243512d383e83783de85c
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/s1_command_initialization.json
@@ -0,0 +1,111 @@
+{
+ "robot": "Astribot S1",
+ "joint_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"
+ ],
+ "initial_joint_values_rad": [
+ 0.5174471878051757,
+ -0.800445799987793,
+ 0.27991957427978514,
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+ -0.4385077435434877,
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+ ],
+ "measured_non_gripper_joints_preserved": true,
+ "source_robot_joint_values_reused": false,
+ "sdk_gripper_raw": {
+ "left": 24.868840066369362,
+ "right": 42.3812077803936
+ },
+ "sdk_gripper_angle_mapping_verified": false,
+ "gripper_mapping_assumption": "SDK remaining nominal opening fraction geometrically inverted through original S1 linkage",
+ "initial_gripper_linkage_rad": {
+ "left": 0.2799526421783537,
+ "right": 0.4385077435434877
+ },
+ "startup_hard": {
+ "time_s": 0.0,
+ "limited_joint_excess_native": 0.0,
+ "gripper_coupling_residual_rad": 0.0,
+ "waist_coupling_residual_rad": 0.0,
+ "robot_table_penetration_m": 0.0,
+ "cross_arm_penetration_m": 0.0,
+ "robot_scene_penetration_m": 0.0,
+ "chassis_world_translation_m": 0.0,
+ "chassis_world_z_displacement_m": 0.0,
+ "chassis_world_quaternion_distance": 0.0,
+ "solver_warning_count": 0,
+ "hard_constraints": {
+ "robot_table_penetration_le_3mm": true,
+ "limited_joints_within_2mrad_or_2mm": true,
+ "solver_no_warnings": true,
+ "waist_coupling_within_1mrad": true,
+ "gripper_coupling_within_2mrad": true,
+ "cross_arm_penetration_le_3mm": true,
+ "robot_scene_penetration_le_3mm": true,
+ "chassis_world_position_fixed_10nm": true,
+ "chassis_world_orientation_fixed_1e8": true
+ },
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/quality_receipt.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/quality_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b51a9191b74e57ffb1622a3697e8bee8b3572be4
--- /dev/null
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+ },
+ {
+ "time_s": 20.22,
+ "finger_contact": [
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+ true
+ ],
+ "finger_normal_force_n": [
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+ "opening_m": 0.07122310269082616,
+ "object_z_m": 0.88592,
+ "support": []
+ },
+ {
+ "time_s": 20.63,
+ "finger_contact": [
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+ true
+ ],
+ "finger_normal_force_n": [
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+ ],
+ "opening_m": 0.07121231264337355,
+ "object_z_m": 0.87171,
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+ }
+ ]
+ },
+ {
+ "object": "cup_right_upper",
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+ "first_close_success": true,
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+ "intent_close_count": 1,
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+ ],
+ "commanded_reopen_count": 0,
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+ "first_close_minimum_aperture_m": 0.07127743595438563,
+ "first_close_maximum_lift_m": 0.10994818227312997,
+ "first_loaded_bilateral_s": 29.539999999976505,
+ "first_25mm_lift_held_500ms_start_s": 31.019999999973056,
+ "first_close_longest_loaded_bilateral_s": 17.300000000065086,
+ "recovery_before_first_proof": [],
+ "contact_loss_before_release": [],
+ "slip_candidates": [],
+ "max_object_motion_in_gripper_frame_m": 0.0010135718804358668,
+ "relative_motion_review": false,
+ "needs_optimization": false,
+ "native_packet_force_evidence": [
+ {
+ "time_s": 28.43,
+ "finger_contact": [
+ false,
+ false
+ ],
+ "finger_normal_force_n": [
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+ 0.0
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+ "object_z_m": 0.97065,
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+ {
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+ "finger_contact": [
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+ "finger_normal_force_n": [
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+ "object_z_m": 0.93677,
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+ {
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+ "finger_contact": [
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+ true
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+ "finger_normal_force_n": [
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+ "object_z_m": 0.93337,
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+ ],
+ "needs_optimization": false,
+ "legacy_finger_side_samples_disagree": 0,
+ "rollout_samples": 4935,
+ "task_required_failures": [],
+ "force_evidence_source": "Fresh exact native replay solver state; no warmstart reconstruction"
+ },
+ "whole_episode_integrity": {
+ "schema": "rssr.full_episode_grasp_release_integrity.v2",
+ "criteria": {
+ "close_command_rise_rad": 0.06,
+ "reopen_command_fall_rad": 0.12,
+ "reopen_actual_aperture_rise_m": 0.008,
+ "cycle_window": "first target acquisition to complete native episode, all event names",
+ "release_policy": "unmodified frozen immutable_rule_guard.guard; support OR exact frozen goal geometry"
+ },
+ "hands": [
+ {
+ "hand": "left",
+ "object": "cup_left_base",
+ "checks": {
+ "one_meaningful_close_in_full_episode": true,
+ "no_unplanned_physical_reopens_in_any_event": true,
+ "no_acquisition_after_first_release": true,
+ "first_release_allowed_by_original_native_guard": true,
+ "final_expected_support_and_original_stability": true
+ },
+ "passed": true,
+ "meaningful_close_s": [
+ 6.3099999999992225
+ ],
+ "actual_reopen_s": [
+ 20.669999999997177
+ ],
+ "unplanned_actual_reopen_s": [],
+ "post_release_acquisition_samples": 0,
+ "release": {
+ "present": true,
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+ "time_s": 20.63,
+ "packet_time_s": 20.63,
+ "packet_time_error_s": 0.0,
+ "original_guard_reasons": [],
+ "guard_input_precision": "Unrounded native history action boundary; no epsilon or physical threshold change",
+ "native_history_row_index": 43,
+ "native_history_row_sha256": "09ae42231015d2a045fdb96d96ad81c622884e620dc2afa56f9d2ca35b1c6ad1",
+ "native_history_exact_time_s": 20.62999999999727,
+ "native_boundary_valid": true,
+ "rounded_packet_guard_allowed": true,
+ "rounded_packet_guard_reasons": [],
+ "support_at_release": [],
+ "expected_support": "worktable",
+ "first_post_release_support_s": 20.679999999997154,
+ "final_support_continuous": true,
+ "original_stability_window_s": 1.0,
+ "final_window_motion_m": 2.0317081350640365e-14,
+ "original_maximum_motion_m": 0.003,
+ "supported_and_stable_at_end": true
+ }
+ },
+ {
+ "hand": "right",
+ "object": "cup_right_upper",
+ "checks": {
+ "one_meaningful_close_in_full_episode": true,
+ "no_unplanned_physical_reopens_in_any_event": true,
+ "no_acquisition_after_first_release": true,
+ "first_release_allowed_by_original_native_guard": true,
+ "final_expected_support_and_original_stability": true
+ },
+ "passed": true,
+ "meaningful_close_s": [
+ 28.909999999977973
+ ],
+ "actual_reopen_s": [
+ 46.88000000004182
+ ],
+ "unplanned_actual_reopen_s": [],
+ "post_release_acquisition_samples": 0,
+ "release": {
+ "present": true,
+ "original_guard_allowed": true,
+ "time_s": 46.84,
+ "packet_time_s": 46.84,
+ "packet_time_error_s": 0.0,
+ "original_guard_reasons": [],
+ "guard_input_precision": "Unrounded native history action boundary; no epsilon or physical threshold change",
+ "native_history_row_index": 98,
+ "native_history_row_sha256": "0d87d21bf3647d8ed737c19a156e7163d2bdea44aac1c3222c2ffbaac9ab61ae",
+ "native_history_exact_time_s": 46.84000000004163,
+ "native_boundary_valid": true,
+ "rounded_packet_guard_allowed": true,
+ "rounded_packet_guard_reasons": [],
+ "support_at_release": [],
+ "expected_support": "cup_left_base",
+ "first_post_release_support_s": 46.95000000004215,
+ "final_support_continuous": true,
+ "original_stability_window_s": 1.0,
+ "final_window_motion_m": 5.616724129466002e-06,
+ "original_maximum_motion_m": 0.003,
+ "supported_and_stable_at_end": true
+ }
+ }
+ ],
+ "passed": true
+ },
+ "first_loaded_acquisition_retention": {
+ "schema": "rssr.first_loaded_acquisition_retention.v1",
+ "scope": "first 100ms loaded bilateral acquisition until first legal release, including before the 25mm lift threshold",
+ "maximum_contact_gap_s": 0.1,
+ "maximum_object_motion_in_gripper_m": 0.015,
+ "hands": [
+ {
+ "hand": "left",
+ "object": "cup_left_base",
+ "first_stable_loaded_acquisition_s": 6.939999999998873,
+ "contact_loss_after_first_loaded_acquisition": [],
+ "max_object_motion_from_first_loaded_acquisition_m": 0.0006771921976646487,
+ "passed": true
+ },
+ {
+ "hand": "right",
+ "object": "cup_right_upper",
+ "first_stable_loaded_acquisition_s": 29.539999999976505,
+ "contact_loss_after_first_loaded_acquisition": [],
+ "max_object_motion_from_first_loaded_acquisition_m": 0.001098078336816878,
+ "passed": true
+ }
+ ],
+ "passed": true
+ },
+ "force_evidence_binding": {
+ "native_source_path": true,
+ "native_command_sha256": true,
+ "actual_load_clock_equals_native": true,
+ "actual_load_object_positions_equal_native": true,
+ "actual_load_shape_and_finite": true
+ },
+ "audit_criteria": {
+ "sampling": "All saved native rollout states, nominal 100 Hz; no interpolation of contact.",
+ "force_reconstruction": "MuJoCo mj_forward at saved qpos/qvel/ctrl. Solver warmstart is unavailable; forces are diagnostic reconstructions, not exact replay evidence.",
+ "distal_mapping": "Exact same physical distal bodies as native session._observation; do not trust legacy rollout name-only finger_contact_sides.",
+ "loaded_pad_minimum_n": 0.0001,
+ "bilateral_acquisition_duration_s": 0.1,
+ "lift_above_initial_m": 0.025,
+ "lift_hold_duration_s": 0.5,
+ "maximum_contact_gap_s": 0.1,
+ "command_reopen_delta_rad": 0.12,
+ "actual_reopen_delta_m": 0.008,
+ "command_reclose_delta_rad": 0.06,
+ "slip_drop_m": 0.015,
+ "relative_object_motion_review_m": 0.015,
+ "first_intent": "First target/hand contact or grasp action, excluding initial SDK settle and prior approach touches.",
+ "cycle": "Persistent contact/grasp/hold actions remain one closure. A new cycle requires explicit target-hand open intent (approach/retreat/release), commanded reopening >=0.12rad accompanied by >=8mm physical jaw opening, followed by a new commanded close >=0.06rad.",
+ "first_success": "First intentional close obtains >=0.1s loaded bilateral distal contact, reaches 25mm lift in same close, and holds lifted/contacted for >=0.5s; no reopening/reapproach before proof.",
+ "retention": "Separately report >0.1s loaded-contact losses or relative object motion before first intentional release; this does not replace the unchanged task acceptance judge."
+ },
+ "audit_script_sha256": "89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a",
+ "verifier_script_sha256": "36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c",
+ "release_integrity_script_sha256": "c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943",
+ "native_receipt_sha256": "e82705e4620be82de2ce4f4f2a0660b66cefc0fd0893351dd69441305ed0b97c",
+ "native_rollout_sha256": "f9251e890441a2e2e7abe2788c834e3c314ab8b5083a1bc8464de4627fef61d5",
+ "native_issued_commands_sha256": "6977b5d974e133847a6577f1f38934114b7a694726ee13804c8631c5420d693e",
+ "actual_load_receipt_sha256": "d5665b918cfaa6fe8a318805f19ea8dca78a2211f68eaa37997ba167876a6dca",
+ "actual_load_data_sha256": "6801682e374efa7945cde486b44c6cb20f3313be58bd2072042e0b2880e97dbb",
+ "never_published": true
+}
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verification.json b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verification.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b1b9fd71a6a9e75e210b4f032f83a43ff830427
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verification.json
@@ -0,0 +1,478 @@
+{
+ "schema": "rssr.strict_first_grasp.publication_proof.v1",
+ "source_id": "physical_01__stack_cups_ep000014",
+ "source_case_id": "stack_cups_ep000014",
+ "physical_index": 1,
+ "origin": "refined",
+ "episode_index": 104,
+ "admission_snapshot": "evidence/admission_snapshots/6f682148134faeb66c0fbbabfa710b0950a30f5e3f3d84173ceeb451084f5346.json",
+ "admission_snapshot_sha256": "6f682148134faeb66c0fbbabfa710b0950a30f5e3f3d84173ceeb451084f5346",
+ "source_mapping": {
+ "original_native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017/physical_01/cases/stack_cups_ep000014/attempt_00",
+ "selected_native": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_first_grasp_v1_20261017/runs/cold_start/protocol_aligned_g01/cases/stack_cups_ep000014/attempt_00"
+ },
+ "strict_checks": {
+ "actual_solver_loads_from_exact_replay": true,
+ "original_native_full_task_accepted": true,
+ "native_task_goal": true,
+ "original_all_hard_passed": true,
+ "independent_replay_exact": true,
+ "independent_every_step_hard_trace_exact": true,
+ "both_first_close_success": true,
+ "exactly_one_close_each": true,
+ "no_reopens": true,
+ "no_recovery_before_lift": true,
+ "no_slip": true,
+ "no_object_motion_in_gripper_over_15mm": true,
+ "no_contact_loss_over_100ms_before_release": true,
+ "whole_episode_physical_cycle_and_legal_release_integrity": true,
+ "first_loaded_grasp_retained_before_and_after_25mm_lift": true,
+ "original_exact_scene_sha256": true,
+ "original_exact_initial_joint_values": true,
+ "original_exact_initial_native_state": true,
+ "original_exact_native_task_contract": true,
+ "persisted_independent_replay_arrays_exact": true,
+ "persisted_actual_load_replay_arrays_exact": true
+ },
+ "verification_criteria": {
+ "force_source": "fresh native exact replay actual solver state",
+ "initial_diagnostic_criteria_note": "quality_receipt.audit_criteria describes historical diagnostic before-analysis; actual force proof is actual_force/receipt.json",
+ "closure_scope": "full episode, including post-release acquisition and physical reopening",
+ "release_scope": "unchanged original native release guard and final task stability"
+ },
+ "two_independent_replays_exact": true,
+ "native_full_task_passed": true,
+ "original_action_state_samples_exact": true,
+ "terminal_state_included": true,
+ "camera_clocks_fully_decoded": true,
+ "hardware_sdk_ready": false,
+ "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"
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+ },
+ "portable_files": {
+ "data/chunk-000/episode_000104.parquet": "0f61340671fe74538e028c1e18209788c2986bd0787b055c75ff62b49b6e8834",
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+ "videos/chunk-000/observation.images.cam_left_wrist/episode_000104.mp4": "63f3b9aae8f45a7bfeb0616842d97ef206b9311ba1527e6c21e8e00a5c8fb98f",
+ "videos/chunk-000/observation.images.cam_right_wrist/episode_000104.mp4": "873ac10906bf73458346b0fa02fca5060c2b5c3f1ab92f71972811a4a726d039",
+ "evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/quality_receipt.json": "8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471",
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+ "evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/actual_force/native_replay_loads.npz": "6801682e374efa7945cde486b44c6cb20f3313be58bd2072042e0b2880e97dbb",
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+ "evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/native/replay/rollout.npz": "f9251e890441a2e2e7abe2788c834e3c314ab8b5083a1bc8464de4627fef61d5",
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+ "evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/actual_force/replay/rollout.npz": "f9251e890441a2e2e7abe2788c834e3c314ab8b5083a1bc8464de4627fef61d5",
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+ "evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/actual_force/replay/report.json": "a128c9d94e1e9f9bdd351cb468ccaf3b45dcb4b31f2707a6001e39ec19aada14",
+ "evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/actions_30fps.npz": "961273e4aabe9c8570a9c4f7c840032e6faf58faea6abef9ab27f68d4612a80c"
+ }
+}
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c.py b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c.py
new file mode 100644
index 0000000000000000000000000000000000000000..645e76e4bc51ed899a88b4dac9195700550b5472
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/36411c1f42d329a287f415ad61a2caa32ffe40a2710190e056f9cc179cc26f7c.py
@@ -0,0 +1,80 @@
+"""Additive first-grasp quality gate; original task/replay acceptance is required.
+Does not edit native files, old rules, physics, HF or render dispatch.
+"""
+from pathlib import Path
+import argparse,importlib.util,json,hashlib,numpy as np
+from release_cycle_integrity import evaluate as evaluate_integrity, acquisition_retention
+
+def sha(p):return hashlib.sha256(Path(p).read_bytes()).hexdigest()
+
+def audit(path,out):
+ root=Path('/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_first_grasp_v1_20261017')
+ source=root/'audit/audit_native_first_grasp.py'
+ spec=importlib.util.spec_from_file_location('first_grasp_audit',source);m=importlib.util.module_from_spec(spec);spec.loader.exec_module(m)
+ out=Path(out);out.mkdir(parents=True,exist_ok=True);m.OUT=out
+ receipt_path=Path(path);r=json.loads(receipt_path.read_text());a=receipt_path.parent
+ result=m.process(receipt_path)
+ strategy=json.loads((a.parents[2]/'strategy.json').read_text())
+ implementation=next(Path(f).parent.parent for f in strategy['implementation_sha256'] if f.endswith('/rssr_augment/common.py'))
+ saved=np.load(out/'cases'/f"{result['group']}_{result['case_id']}_diagnostics.npz");native=np.load(a/'execute/rollout.npz')
+ integrity=evaluate_integrity(a,native,saved,implementation)
+ load_dir=out/'exact_load_replay';load_receipt=load_dir/'native_replay_load_receipt.json'
+ actual_loads=False;binding={};retention={'passed':False,'reason':'actual_solver_loads_required'}
+ if load_receipt.exists():
+ lr=json.loads(load_receipt.read_text());measured=np.load(load_dir/'native_replay_loads.npz')
+ binding={
+ 'native_source_path':Path(lr['native_source']).resolve()==a.resolve(),
+ 'native_command_sha256':lr['replay']['command_sha256']==sha(a/'issued_robot_commands.npz'),
+ 'actual_load_clock_equals_native':np.array_equal(measured['time_s'],native['time_s']),
+ 'actual_load_object_positions_equal_native':np.array_equal(measured['object_position_m'],native['object_position'][:,:2]),
+ 'actual_load_shape_and_finite':measured['pad_force_n'].shape==(len(native['time_s']),2,2) and measured['object_in_finger_frame_m'].shape==(len(native['time_s']),2,3) and bool(np.isfinite(measured['pad_force_n']).all()) and bool((measured['pad_force_n']>=0).all()) and bool(np.isfinite(measured['object_in_finger_frame_m']).all()),
+ }
+ actual_loads=bool(lr['fresh_native_replay'] and lr['force_from_actual_solver_state'] and lr['sample_clock_exact'] and lr['replay']['exact'] and lr['replay']['every_step_hard_trace_exact'] and all(binding.values()))
+ if actual_loads:
+ retention=acquisition_retention(measured['time_s'],measured['pad_force_n'],measured['object_in_finger_frame_m'],saved)
+ packets=[json.loads(p.read_text())['observation'] for p in sorted((a/'decisions').glob('*/packet.json'))]
+ result['hands']=[m.summarize_hand(measured['time_s'],native['object_position'],measured['pad_force_n'],measured['object_in_finger_frame_m'],native['gripper_opening'],saved['desired_gripper_angle_rad'],saved['event_kind'],saved['event_object'],saved['event_hand'],hi,packets) for hi in range(2)]
+ result['force_evidence_source']='Fresh exact native replay solver state; no warmstart reconstruction'
+ result['needs_optimization']=any(h['needs_optimization'] for h in result['hands'])
+ checks={
+ 'actual_solver_loads_from_exact_replay':actual_loads,
+ 'original_native_full_task_accepted':r['accepted'] is True,
+ 'native_task_goal':r['native']['task_text_physical_success'] is True,
+ 'original_all_hard_passed':r['online_every_step_hard_snapshot']['all_hard_passed'] is True,
+ 'independent_replay_exact':bool((r.get('replay') or {}).get('exact')),
+ 'independent_every_step_hard_trace_exact':bool((r.get('replay') or {}).get('every_step_hard_trace_exact')),
+ 'both_first_close_success':all(h.get('first_close_success') for h in result['hands']),
+ 'exactly_one_close_each':all(h.get('intent_close_count')==1 for h in result['hands']),
+ 'no_reopens':all(h.get('commanded_reopen_count')==0 for h in result['hands']),
+ 'no_recovery_before_lift':all(not h.get('recovery_before_first_proof') for h in result['hands']),
+ 'no_slip':all(not h.get('slip_candidates') for h in result['hands']),
+ 'no_object_motion_in_gripper_over_15mm':all(not h.get('relative_motion_review') for h in result['hands']),
+ 'no_contact_loss_over_100ms_before_release':all(not h.get('contact_loss_before_release') for h in result['hands']),
+ 'whole_episode_physical_cycle_and_legal_release_integrity':integrity['passed'],
+ 'first_loaded_grasp_retained_before_and_after_25mm_lift':retention['passed'],
+ }
+ original=Path('/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017')
+ sample=strategy['physical_augmentation']['profiles'][r['case_id']];gi=sample['variant_index'];old=original/f'physical_{gi:02d}/cases'/r['case_id']/'attempt_00'
+ old_init=json.loads((old/'s1_command_initialization.json').read_text());new_init=json.loads((a/'s1_command_initialization.json').read_text())
+ checks['original_exact_scene_sha256']=sha(a/'execute/scene.xml')==sha(old/'execute/scene.xml')
+ checks['original_exact_initial_joint_values']=new_init['initial_joint_values_rad']==old_init['initial_joint_values_rad']
+ old_rollout=np.load(old/'execute/rollout.npz')
+ checks['original_exact_initial_native_state']=all(np.array_equal(native[k][0],old_rollout[k][0]) for k in ['qpos','qvel','object_position','object_quaternion'])
+ checks['original_exact_native_task_contract']=json.loads((a/'execute/task_contract.json').read_text())==json.loads((old/'execute/task_contract.json').read_text())
+ # Compare persisted arrays as well as the independent replay's boolean receipt.
+ def arrays_equal(directory,filename):
+ other=np.load(directory/filename);source=np.load(a/'execute'/filename)
+ return source.files==other.files and all(np.array_equal(source[k],other[k]) for k in source.files)
+ checks['persisted_independent_replay_arrays_exact']=bool((a/'replay/rollout.npz').exists() and arrays_equal(a/'replay','rollout.npz') and arrays_equal(a/'replay','immutable_hard_trace.npz'))
+ checks['persisted_actual_load_replay_arrays_exact']=bool(actual_loads and arrays_equal(load_dir/'replay','rollout.npz') and arrays_equal(load_dir/'replay','immutable_hard_trace.npz'))
+ old_audit=json.loads((root/f'audit/cases/physical_{gi:02d}_{r["case_id"]}.json').read_text())
+ report={'schema':'rssr.optimized_first_grasp_candidate.v2','candidate':str(a),'source':str(old),'physical_index':gi,'case_id':r['case_id'],'checks':checks,'optimization_accepted':all(checks.values()),'before':old_audit,'after':result,'whole_episode_integrity':integrity,'first_loaded_acquisition_retention':retention,'force_evidence_binding':binding,'audit_criteria':m.CRITERIA,'audit_script_sha256':sha(source),'verifier_script_sha256':sha(__file__),'release_integrity_script_sha256':sha(Path(__file__).parent/'release_cycle_integrity.py'),'native_receipt_sha256':sha(receipt_path),'native_rollout_sha256':sha(a/'execute/rollout.npz'),'native_issued_commands_sha256':sha(a/'issued_robot_commands.npz'),'actual_load_receipt_sha256':sha(load_receipt) if load_receipt.exists() else None,'actual_load_data_sha256':sha(load_dir/'native_replay_loads.npz') if (load_dir/'native_replay_loads.npz').exists() else None,'never_published':True}
+ dest=out/'optimization_receipt.json'
+ if dest.exists():
+ archive=out/'superseded_quality_receipts';archive.mkdir(exist_ok=True);prior=archive/(sha(dest)+'.json')
+ if not prior.exists():prior.write_bytes(dest.read_bytes())
+ tmp=dest.with_suffix('.json.tmp');tmp.write_text(json.dumps(report,indent=2)+'\n');tmp.replace(dest)
+ print(json.dumps({'candidate':str(a),'optimization_accepted':report['optimization_accepted'],'checks':checks},indent=2))
+ return report
+if __name__=='__main__':
+ p=argparse.ArgumentParser();p.add_argument('receipt',type=Path);p.add_argument('out',type=Path);a=p.parse_args();audit(a.receipt,a.out)
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a.py b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a.py
new file mode 100644
index 0000000000000000000000000000000000000000..6d9607c31e6645a31de46bb607fce7b0b841c259
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/89ede9f42e342164f059f696ac86b94f7789937852a072ad5b1f4d4fd40a619a.py
@@ -0,0 +1,263 @@
+"""Read-only first-grasp diagnostics; never execute commands or alter evidence.
+
+The existing task judge is intentionally unchanged. This adds stricter acquisition
+diagnostics, with explicit sampling limits, using saved native states and commands.
+"""
+import concurrent.futures as cf
+import collections
+import csv
+import hashlib
+import json
+import os
+import sys
+from pathlib import Path
+import time
+import numpy as np
+import mujoco
+
+SOURCE = Path('/pfs/yichen/rssr_data_enhance+causal_map/result/sim1-sim2/s1_heightfit_3x1_20261017')
+OUT = Path(__file__).parent
+HANDS = ('left', 'right')
+OBJECTS = ('cup_left_base', 'cup_right_upper')
+CRITERIA = {
+ 'sampling': 'All saved native rollout states, nominal 100 Hz; no interpolation of contact.',
+ 'force_reconstruction': 'MuJoCo mj_forward at saved qpos/qvel/ctrl. Solver warmstart is unavailable; forces are diagnostic reconstructions, not exact replay evidence.',
+ 'distal_mapping': 'Exact same physical distal bodies as native session._observation; do not trust legacy rollout name-only finger_contact_sides.',
+ 'loaded_pad_minimum_n': 0.0001,
+ 'bilateral_acquisition_duration_s': 0.1,
+ 'lift_above_initial_m': 0.025,
+ 'lift_hold_duration_s': 0.5,
+ 'maximum_contact_gap_s': 0.1,
+ 'command_reopen_delta_rad': 0.12,
+ 'actual_reopen_delta_m': 0.008,
+ 'command_reclose_delta_rad': 0.06,
+ 'slip_drop_m': 0.015,
+ 'relative_object_motion_review_m': 0.015,
+ 'first_intent': 'First target/hand contact or grasp action, excluding initial SDK settle and prior approach touches.',
+ 'cycle': 'Persistent contact/grasp/hold actions remain one closure. A new cycle requires explicit target-hand open intent (approach/retreat/release), commanded reopening >=0.12rad accompanied by >=8mm physical jaw opening, followed by a new commanded close >=0.06rad.',
+ 'first_success': 'First intentional close obtains >=0.1s loaded bilateral distal contact, reaches 25mm lift in same close, and holds lifted/contacted for >=0.5s; no reopening/reapproach before proof.',
+ 'retention': 'Separately report >0.1s loaded-contact losses or relative object motion before first intentional release; this does not replace the unchanged task acceptance judge.',
+}
+
+
+def digest(path):
+ h = hashlib.sha256()
+ with open(path, 'rb') as f:
+ for block in iter(lambda: f.read(1048576), b''):
+ h.update(block)
+ return h.hexdigest()
+
+
+def runs(t, mask):
+ mask = np.asarray(mask, dtype=bool)
+ edges = np.diff(np.r_[False, mask, False].astype(np.int8))
+ dt = float(np.median(np.diff(t)))
+ return [(int(a), int(b), float(t[b-1]-t[a]+dt))
+ for a,b in zip(np.flatnonzero(edges == 1), np.flatnonzero(edges == -1))]
+
+
+def first_run(t, mask, duration):
+ return next((a for a,b,d in runs(t, mask) if d >= duration-1e-6), None)
+
+
+def summarize_hand(t, obj_position, pad_force, finger_local, opening, cmd_angle,
+ event_kind, event_obj, event_hand, hi, packets):
+ obj, hand = OBJECTS[hi], HANDS[hi]
+ intended = (event_obj == obj) & (event_hand == hand)
+ acquisition = intended & np.isin(event_kind, ['contact', 'grasp'])
+ open_intent = intended & np.isin(event_kind, ['approach', 'retreat', 'release'])
+ indices = np.flatnonzero(acquisition)
+ if not len(indices):
+ return {'object':obj,'hand':hand,'status':'no_intentional_acquisition','needs_optimization':True}
+ start = int(indices[0]); dt = float(np.median(np.diff(t)))
+ release_indices = np.flatnonzero(intended & (event_kind == 'release') & (np.arange(len(t)) >= start))
+ release = int(release_indices[0]) if len(release_indices) else len(t)
+ end = release
+ loaded = (pad_force[:, hi] > CRITERIA['loaded_pad_minimum_n']).all(axis=-1)
+ unilateral = (pad_force[:, hi] > CRITERIA['loaded_pad_minimum_n']).sum(axis=-1) == 1
+ lift = obj_position[:, hi, 2] - obj_position[0, hi, 2]
+ # A genuine reopening must be both commanded and physically observed.
+ starts=[start]; opens=[]; phase='closed'; peak=cmd_angle[start,hi]
+ peak_opening=opening[start,hi]; trough=peak; reopen_opening=peak_opening
+ for i in range(start+1,end):
+ angle=cmd_angle[i,hi]; aperture=opening[i,hi]
+ if phase=='closed':
+ if angle>peak:
+ peak=angle;peak_opening=aperture
+ if (open_intent[i] and peak-angle >= CRITERIA['command_reopen_delta_rad'] and
+ aperture-peak_opening >= CRITERIA['actual_reopen_delta_m']):
+ opens.append(i);phase='open';trough=angle;reopen_opening=aperture
+ else:
+ trough=min(trough,angle);reopen_opening=max(reopen_opening,aperture)
+ if acquisition[i] and angle-trough>=CRITERIA['command_reclose_delta_rad']:
+ starts.append(i);phase='closed';peak=angle;peak_opening=aperture
+ first_end=opens[0] if opens else end
+ scope=(np.arange(len(t))>=start)&(np.arange(len(t))=CRITERIA['lift_above_initial_m']),CRITERIA['lift_hold_duration_s'])
+ # Retreat/reapproach after closing and before stable lift is recovery even
+ # if a software command happened to preserve the jaw opening.
+ proof_end=lifted if lifted is not None else first_end
+ recovery=(intended & np.isin(event_kind,['retreat','approach']) &
+ (np.arange(len(t))>start)&(np.arange(len(t))=.10]
+ first_success=lifted is not None and not recovery_spans
+ qualified=first_run(t,loaded&(lift>=CRITERIA['lift_above_initial_m'])&
+ (np.arange(len(t))>=start)&(np.arange(len(t))=qualified)&(np.arange(len(t))CRITERIA['maximum_contact_gap_s']+1e-6]
+ for a,b,dur in loss_spans:
+ before=max(qualified,a-5);after=min(end-1,b+50)
+ drop=float(np.max(obj_position[before:a+1,hi,2])-np.min(obj_position[a:after+1,hi,2]))
+ relative=float(np.max(np.linalg.norm(finger_local[a:after+1,hi]-finger_local[before,hi],axis=1)))
+ if drop>=CRITERIA['slip_drop_m'] and relative>=CRITERIA['relative_object_motion_review_m']:
+ slip_spans.append({'start_s':float(t[a]),'end_s':float(t[b-1]+dt),'drop_m':drop,'relative_motion_m':relative})
+ max_relative_motion=float(np.max(np.linalg.norm(finger_local[qualified:end,hi]-finger_local[qualified,hi],axis=1))) if end>qualified else 0.
+ # Only native observation data are read from packets; no model requests.
+ evidence=[]
+ for po in packets:
+ if t[start]-.02<=po['time_s']<=(t[end] if endstart else None,
+ 'first_close_maximum_lift_m':float(np.max(lift[start:first_end])) if first_end>start else None,
+ 'first_loaded_bilateral_s':float(t[acquired]) if acquired is not None else None,
+ 'first_25mm_lift_held_500ms_start_s':float(t[lifted]) if lifted is not None else None,
+ 'first_close_longest_loaded_bilateral_s':max((d for a,b,d in runs(t,loaded&scope)),default=0.),
+ 'recovery_before_first_proof':[{'start_s':float(t[a]),'end_s':float(t[b-1]+dt)} for a,b,d in recovery_spans],
+ 'contact_loss_before_release':[{'start_s':float(t[a]),'end_s':float(t[b-1]+dt),'duration_s':d} for a,b,d in loss_spans],
+ 'slip_candidates':slip_spans,'max_object_motion_in_gripper_frame_m':max_relative_motion,
+ 'relative_motion_review':max_relative_motion>CRITERIA['relative_object_motion_review_m'],
+ 'needs_optimization':bool(not first_success or len(starts)>1 or recovery_spans or slip_spans),
+ 'native_packet_force_evidence':evidence,
+ }
+
+
+def process(receipt_path):
+ receipt_path=Path(receipt_path);a=receipt_path.parent;r=json.loads(receipt_path.read_text())
+ model=mujoco.MjModel.from_xml_path(str(a/'execute/scene.xml'));data=mujoco.MjData(model)
+ z=np.load(a/'execute/rollout.npz');t=z['time_s'];q=z['qpos'];v=z['qvel'];ctrl=z['ctrl'];opening=z['gripper_opening'];pos=z['object_position']
+ commands=np.load(a/'issued_robot_commands.npz');ct=commands['time_s'];cq=commands['qpos'];idx=np.clip(np.searchsorted(ct,t),0,len(ct)-1)
+ qa=[int(model.joint(f'astribot_gripper_{h}_joint_L1').qposadr[0]) for h in HANDS];cmd_angle=cq[idx][:,qa]
+ del cq,commands
+ history=r['event_history'];ends=np.asarray([e['time_s'] for e in history]);ei=np.minimum(np.searchsorted(ends,t,side='right'),len(history)-1)
+ event_kind=np.asarray([history[i]['event_id'].split(':')[0] for i in ei]);event_obj=np.asarray([history[i].get('selected_object_id') or '' for i in ei]);event_hand=np.asarray([history[i].get('selected_hand') or '' for i in ei])
+ object_bodies={model.body(obj).id:oi for oi,obj in enumerate(OBJECTS)}
+ distal={};tip_geoms=[];hand_bodies=[]
+ for hi,h in enumerate(HANDS):
+ tips=[model.geom(f'astribot_gripper_{h}_geom_{s}').id for s in ('L112','R112')]
+ tip_geoms.append(tips);hand_bodies.append(model.body(f'astribot_gripper_{h}_base').id)
+ for side,g in enumerate(tips):distal[int(model.geom_bodyid[g])]=(hi,side)
+ forces=np.zeros((len(t),2,2));finger_local=np.zeros((len(t),2,3));contact=np.zeros((len(t),2,2),bool)
+ for k in range(len(t)):
+ data.qpos[:]=q[k];data.qvel[:]=v[k];data.ctrl[:]=ctrl[k];data.time=t[k];mujoco.mj_forward(model,data)
+ for hi in range(2):
+ center=data.geom_xpos[tip_geoms[hi]].mean(axis=0)
+ rot=data.xmat[hand_bodies[hi]].reshape(3,3)
+ finger_local[k,hi]=rot.T@(pos[k,hi]-center)
+ for ci,c in enumerate(data.contact):
+ if c.dist>0:continue
+ for geom,other in ((int(c.geom1),int(c.geom2)),(int(c.geom2),int(c.geom1))):
+ oi=object_bodies.get(int(model.geom_bodyid[geom]));ds=distal.get(int(model.geom_bodyid[other]))
+ if oi is not None and ds is not None and oi==ds[0]:
+ hi,side=ds;contact[k,hi,side]=True;f=np.zeros(6);mujoco.mj_contactForce(model,data,ci,f)
+ forces[k,hi,side]=max(forces[k,hi,side],max(0.,float(f[0])))
+ packets=[]
+ for packet in sorted((a/'decisions').glob('*/packet.json')):
+ packets.append(json.loads(packet.read_text())['observation'])
+ diagnostics=[summarize_hand(t,pos,forces,finger_local,opening,cmd_angle,event_kind,event_obj,event_hand,hi,packets) for hi in range(2)]
+ legacy=np.stack([z['finger_contact_sides'][:,hi,hi,:] for hi in range(2)],axis=1).astype(bool)
+ result={'group':a.parents[2].name,'case_id':r['case_id'],'accepted':r['accepted'],
+ 'receipt_path':str(receipt_path),'receipt_sha256':digest(receipt_path),
+ 'scene_sha256':digest(a/'execute/scene.xml'),'hands':diagnostics,
+ 'needs_optimization':any(h['needs_optimization'] for h in diagnostics),
+ 'legacy_finger_side_samples_disagree':int(np.any(contact!=legacy,axis=(1,2)).sum()),
+ 'rollout_samples':len(t),'task_required_failures':r['native']['required_failures']}
+ stem=f"{result['group']}_{r['case_id']}"
+ (OUT/'cases').mkdir(exist_ok=True)
+ (OUT/'cases'/f'{stem}.json').write_text(json.dumps(result,indent=2)+'\n')
+ np.savez_compressed(OUT/'cases'/f'{stem}_diagnostics.npz',time_s=t,pad_force_n=forces,
+ distal_contact=contact,object_in_finger_frame_m=finger_local,
+ desired_gripper_angle_rad=cmd_angle,event_kind=event_kind,
+ event_object=event_obj,event_hand=event_hand)
+ return result
+
+
+def summarize_saved(receipt_path):
+ """Refine diagnostic criteria using unchanged, previously derived FK/forces."""
+ receipt_path=Path(receipt_path);a=receipt_path.parent
+ stem=f"{a.parents[2].name}_{a.parent.name}"
+ report_path=OUT/'cases'/f'{stem}.json'
+ r=json.loads(report_path.read_text())
+ assert r['receipt_sha256']==digest(receipt_path)
+ assert r['scene_sha256']==digest(a/'execute/scene.xml')
+ z=np.load(OUT/'cases'/f'{stem}_diagnostics.npz')
+ native=np.load(a/'execute/rollout.npz')
+ packets=[json.loads(p.read_text())['observation']
+ for p in sorted((a/'decisions').glob('*/packet.json'))]
+ r['hands']=[summarize_hand(z['time_s'],native['object_position'],z['pad_force_n'],
+ z['object_in_finger_frame_m'],native['gripper_opening'],
+ z['desired_gripper_angle_rad'],z['event_kind'],z['event_object'],
+ z['event_hand'],hi,packets) for hi in range(2)]
+ r['needs_optimization']=any(h['needs_optimization'] for h in r['hands'])
+ report_path.write_text(json.dumps(r,indent=2)+'\n')
+ return r
+
+
+def main():
+ receipts=sorted(SOURCE.glob('physical_??/cases/*/attempt_00/receipt.json'))
+ assert len(receipts)==150
+ (OUT/'criteria.json').write_text(json.dumps(CRITERIA,indent=2)+'\n')
+ results=[];errors=[];started=time.monotonic()
+ with cf.ProcessPoolExecutor(max_workers=6) as pool:
+ worker=summarize_saved if '--summarize-saved' in sys.argv else process
+ jobs={pool.submit(worker,str(p)):p for p in receipts}
+ for future in cf.as_completed(jobs):
+ try:results.append(future.result())
+ except Exception as exc:errors.append({'receipt':str(jobs[future]),'error':repr(exc)})
+ if (len(results)+len(errors))%10==0:
+ print(json.dumps({'done':len(results),'errors':len(errors),'seconds':round(time.monotonic()-started,1)}),flush=True)
+ results.sort(key=lambda r:(r['group'],r['case_id']))
+ rows=[]
+ for r in results:
+ for h in r['hands']:
+ rows.append({'group':r['group'],'case_id':r['case_id'],'accepted':r['accepted'],
+ **{k:h.get(k) for k in ['hand','status','needs_optimization','first_close_success','first_intent_s','intent_close_count','commanded_reopen_count','first_close_minimum_aperture_m','first_close_maximum_lift_m','first_loaded_bilateral_s','first_25mm_lift_held_500ms_start_s','first_close_longest_loaded_bilateral_s','max_object_motion_in_gripper_frame_m','relative_motion_review']},
+ 'contact_loss_count':len(h.get('contact_loss_before_release',[])),
+ 'slip_candidate_count':len(h.get('slip_candidates',[])),
+ 'recovery_before_proof_count':len(h.get('recovery_before_first_proof',[])),
+ 'report_path':str(OUT/'cases'/f"{r['group']}_{r['case_id']}.json")})
+ with (OUT/'all_150_hands.csv').open('w',newline='') as f:
+ writer=csv.DictWriter(f,fieldnames=list(rows[0]));writer.writeheader();writer.writerows(rows)
+ summary={'schema':'rssr.first_grasp_readonly_audit.v2','source_root':str(SOURCE),
+ 'cases_expected':150,'cases_audited':len(results),'errors':errors,
+ 'cases_needing_optimization':sum(r['needs_optimization'] for r in results),
+ 'accepted_cases_needing_optimization':sum(r['accepted'] and r['needs_optimization'] for r in results),
+ 'hand_status_counts':dict(collections.Counter(row['status'] for row in rows)),
+ 'hands_with_multiple_closes':sum((row['intent_close_count'] or 0)>1 for row in rows),
+ 'hands_with_slip_candidates':sum(row['slip_candidate_count']>0 for row in rows),
+ 'cases_with_legacy_contact_disagreement':sum(r['legacy_finger_side_samples_disagree']>0 for r in results),
+ 'wall_seconds':time.monotonic()-started,'criteria_path':str(OUT/'criteria.json'),
+ 'audit_script_sha256':digest(__file__)}
+ (OUT/'summary.json').write_text(json.dumps(summary,indent=2)+'\n')
+ (OUT/'all_150_cases.json').write_text(json.dumps(results,indent=2)+'\n')
+ print(json.dumps(summary),flush=True)
+
+
+if __name__=='__main__':main()
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943.py b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943.py
new file mode 100644
index 0000000000000000000000000000000000000000..d1d18bb94950a19436c36daf12f95c2953b95e26
--- /dev/null
+++ b/150case_data_enhance_blender_v2_trajectory_refine/evidence/episodes/physical_01__stack_cups_ep000014/8e35f625bd653b21f952c21f9615a4bd5ccf21bcbb32123037e9609170a7c471/verifiers/c03e452174525918d03adce01336cc649ef9ef5d8dbfa1eb55a6d77a59b58943.py
@@ -0,0 +1,178 @@
+"""Read-only, full-episode close cycles and original-policy release checks.
+
+Unlike the original screening summary, opening detection does not depend on the
+event name and counting continues after the first release. Intentional release
+uses the frozen native guard verbatim; its geometry-ready path is legitimate.
+"""
+from pathlib import Path
+import copy
+import hashlib
+import json
+import sys
+import numpy as np
+
+
+def acquisition_retention(time_s, forces, local, diagnostics):
+ """Keep the first stable loaded grasp, including the pre-25mm lift phase."""
+ t = time_s; dt = float(np.median(np.diff(t))); rows = []
+ for hi, (hand, obj) in enumerate(zip(('left', 'right'), ('cup_left_base', 'cup_right_upper'))):
+ intended = (diagnostics['event_object'] == obj) & (diagnostics['event_hand'] == hand)
+ acquisition = np.flatnonzero(intended & np.isin(diagnostics['event_kind'], ['contact', 'grasp']))
+ if not len(acquisition):
+ rows.append({'hand': hand, 'passed': False, 'reason': 'no_acquisition'}); continue
+ first = int(acquisition[0])
+ releases = np.flatnonzero(intended & (diagnostics['event_kind'] == 'release') & (np.arange(len(t)) >= first))
+ end = int(releases[0]) if len(releases) else len(t)
+ loaded = (forces[:, hi] > .0001).all(axis=-1)
+ def spans(mask):
+ edges = np.diff(np.r_[False, mask, False].astype(np.int8))
+ return [(int(a), int(b), float(t[b - 1] - t[a] + dt))
+ for a, b in zip(np.flatnonzero(edges == 1), np.flatnonzero(edges == -1))]
+ scope = (np.arange(len(t)) >= first) & (np.arange(len(t)) < end)
+ qualified = next((a for a, b, duration in spans(loaded & scope) if duration >= .1 - 1e-6), None)
+ losses = []; motion = None
+ if qualified is not None:
+ retain = (np.arange(len(t)) >= qualified) & (np.arange(len(t)) < end)
+ losses = [{'start_s': float(t[a]), 'end_s': float(t[b - 1] + dt), 'duration_s': duration}
+ for a, b, duration in spans((~loaded) & retain) if duration > .1 + 1e-6]
+ motion = float(np.max(np.linalg.norm(local[qualified:end, hi] - local[qualified, hi], axis=1)))
+ rows.append({'hand': hand, 'object': obj,
+ 'first_stable_loaded_acquisition_s': float(t[qualified]) if qualified is not None else None,
+ 'contact_loss_after_first_loaded_acquisition': losses,
+ 'max_object_motion_from_first_loaded_acquisition_m': motion,
+ 'passed': qualified is not None and not losses and motion <= .015})
+ return {'schema': 'rssr.first_loaded_acquisition_retention.v1',
+ 'scope': 'first 100ms loaded bilateral acquisition until first legal release, including before the 25mm lift threshold',
+ 'maximum_contact_gap_s': .1, 'maximum_object_motion_in_gripper_m': .015,
+ 'hands': rows, 'passed': all(r['passed'] for r in rows)}
+
+
+def evaluate(case, native, diagnostics, implementation):
+ case = Path(case)
+ sys.path.insert(0, str(implementation))
+ from rssr_augment.retarget.events import catalog
+ from rssr_augment.retarget.immutable_rule_guard import guard
+
+ receipt = json.loads((case / 'receipt.json').read_text())
+ contract = json.loads((case / 'execute/task_contract.json').read_text())
+ packets = [json.loads(p.read_text()) for p in sorted((case / 'decisions').glob('*/packet.json'))]
+ events = catalog(contract, {'objects': packets[0]['scene_objects']})
+ t = native['time_s']
+ kind, obj, hand = [diagnostics[k] for k in ('event_kind', 'event_object', 'event_hand')]
+ angle, aperture = diagnostics['desired_gripper_angle_rad'], native['gripper_opening']
+ rows = []
+ for hi, (h, o) in enumerate(zip(('left', 'right'), ('cup_left_base', 'cup_right_upper'))):
+ intent = (obj == o) & (hand == h)
+ acquisition = intent & np.isin(kind, ['contact', 'grasp'])
+ starts = np.flatnonzero(acquisition)
+ if not len(starts):
+ rows.append({'hand': h, 'object': o, 'passed': False, 'reason': 'no_acquisition'})
+ continue
+ first = int(starts[0])
+ releases = np.flatnonzero(intent & (kind == 'release') & (np.arange(len(t)) >= first))
+ release = int(releases[0]) if len(releases) else None
+
+ # First pre-close centering may open an initially half-closed SDK hand.
+ # A meaningful close starts only after a positive 0.06rad command rise.
+ state = 'waiting'; trough = float(angle[first, hi]); peak = trough
+ minimum_aperture = float(aperture[first, hi]); closes = []; opens = []
+ for i in range(first + 1, len(t)):
+ a, gap = float(angle[i, hi]), float(aperture[i, hi])
+ if state == 'waiting':
+ trough = min(trough, a)
+ if a - trough >= .06 - 1e-12:
+ closes.append(i); state = 'closing'; peak = a; minimum_aperture = gap
+ else:
+ peak = max(peak, a); minimum_aperture = min(minimum_aperture, gap)
+ if peak - a >= .12 - 1e-12 and gap - minimum_aperture >= .008 - 1e-12:
+ opens.append(i); state = 'waiting'; trough = a
+ unplanned = [i for i in opens if release is None or i < release]
+ later_acquisition = np.flatnonzero(acquisition & (np.arange(len(t)) >= (release if release is not None else len(t))))
+
+ release_evidence = {'present': release is not None, 'original_guard_allowed': False}
+ support_ok = False
+ if release is not None:
+ # The history rows record action end times. Find the exact action
+ # start boundary, then its saved native decision observation.
+ history = receipt['event_history']
+ ri = next(i for i, e in enumerate(history)
+ if e['event_id'].split(':')[0] == 'release'
+ and e.get('selected_object_id') == o and e.get('selected_hand') == h)
+ release_start = float(history[ri - 1]['time_s']) if ri else 0.
+ packet = min(packets, key=lambda p: abs(p['observation']['time_s'] - release_start))
+ packet_gap = abs(packet['observation']['time_s'] - release_start)
+ event = next(e for e in events if e.action.event == 'release' and e.action.object_id == o and e.action.hand == h)
+ packet_allowed, packet_reasons = guard(event, packet['observation'], contract, events)
+ # Packets are presentation records rounded to five decimal places.
+ # Rechecking a 6mm physical guard on them can reject 5.997104mm as
+ # 6.000000000000005mm. The preceding native history row is the
+ # actual same action boundary, with unrounded positions/predicates.
+ # Keep the frozen guard and its thresholds completely unchanged.
+ boundary = history[ri - 1] if ri else None
+ trusted = copy.deepcopy(packet['observation'])
+ boundary_valid = bool(boundary and all(k in boundary for k in
+ ('object_position_m', 'live_predicates', 'immutable_hard')))
+ if boundary_valid:
+ raw_time = float(boundary['immutable_hard']['time_s'])
+ boundary_valid = (abs(raw_time - release_start) <= 1e-4 and
+ abs(raw_time - packet['observation']['time_s']) <= 1e-4 and
+ all(np.array_equal(np.round(np.asarray(v), 5),
+ np.asarray(packet['observation']['object_position_m'][k]))
+ for k, v in boundary['object_position_m'].items()))
+ for key in ('object_position_m', 'live_predicates', 'finger_contact',
+ 'hand_contact', 'gripper_opening_m', 'gripper_scene_contacts',
+ 'immutable_hard'):
+ if key in boundary: trusted[key] = copy.deepcopy(boundary[key])
+ trusted['time_s'] = raw_time
+ allowed, reasons = guard(event, trusted, contract, events)
+ if not boundary_valid:
+ reasons = list(reasons) + ['same_boundary_unrounded_native_evidence_missing_or_mismatched']
+ allowed = False
+ release_evidence.update(time_s=release_start, packet_time_s=packet['observation']['time_s'],
+ packet_time_error_s=packet_gap, original_guard_allowed=bool(allowed and packet_gap <= 1e-4),
+ original_guard_reasons=reasons,
+ guard_input_precision='Unrounded native history action boundary; no epsilon or physical threshold change',
+ native_history_row_index=ri - 1 if ri else None,
+ native_history_row_sha256=hashlib.sha256(json.dumps(boundary,sort_keys=True,separators=(',',':')).encode()).hexdigest() if boundary else None,
+ native_history_exact_time_s=trusted['time_s'],
+ native_boundary_valid=boundary_valid,
+ rounded_packet_guard_allowed=packet_allowed,
+ rounded_packet_guard_reasons=packet_reasons,
+ support_at_release=packet['observation']['support_contact'][o])
+
+ # Original stack contract: base must settle on worktable; upper on
+ # base. contacts[..., -1] is the runtime worktable column. The
+ # unchanged native final task judge still supplies relation,
+ # contact-fraction, released and full 1s stability requirements.
+ supported = (native['contacts'][:, hi, -1] > 0 if hi == 0
+ else native['object_contacts'][:, hi, 0] > 0)
+ stable = next(p for p in contract['predicates'] if p['kind'] == 'stable')
+ window = float(stable['window_s']); final_window = t >= t[-1] - window - 1e-8
+ motion = float(np.linalg.norm(np.ptp(native['object_position'][final_window, hi], axis=0)))
+ support_ok = bool(np.all(supported[final_window]) and motion <= float(stable['max_motion_m']) + 1e-12)
+ supported_after = np.flatnonzero(supported & (np.arange(len(t)) >= release))
+ release_evidence.update(expected_support='worktable' if hi == 0 else 'cup_left_base',
+ first_post_release_support_s=float(t[supported_after[0]]) if len(supported_after) else None,
+ final_support_continuous=bool(np.all(supported[final_window])),
+ original_stability_window_s=window, final_window_motion_m=motion,
+ original_maximum_motion_m=float(stable['max_motion_m']),
+ supported_and_stable_at_end=support_ok)
+ checks = {
+ 'one_meaningful_close_in_full_episode': len(closes) == 1,
+ 'no_unplanned_physical_reopens_in_any_event': not unplanned,
+ 'no_acquisition_after_first_release': not len(later_acquisition),
+ 'first_release_allowed_by_original_native_guard': release_evidence['original_guard_allowed'],
+ 'final_expected_support_and_original_stability': support_ok,
+ }
+ rows.append({'hand': h, 'object': o, 'checks': checks, 'passed': all(checks.values()),
+ 'meaningful_close_s': [float(t[i]) for i in closes],
+ 'actual_reopen_s': [float(t[i]) for i in opens],
+ 'unplanned_actual_reopen_s': [float(t[i]) for i in unplanned],
+ 'post_release_acquisition_samples': len(later_acquisition),
+ 'release': release_evidence})
+ return {'schema': 'rssr.full_episode_grasp_release_integrity.v2',
+ 'criteria': {'close_command_rise_rad': .06, 'reopen_command_fall_rad': .12,
+ 'reopen_actual_aperture_rise_m': .008,
+ 'cycle_window': 'first target acquisition to complete native episode, all event names',
+ 'release_policy': 'unmodified frozen immutable_rule_guard.guard; support OR exact frozen goal geometry'},
+ 'hands': rows, 'passed': all(row['passed'] for row in rows)}
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/manifest.json b/150case_data_enhance_blender_v2_trajectory_refine/manifest.json
index 607eed18d4ec723b6f44dcc74f306589f91debaf..70cfdf36d95b59577df1c92ceeea42704e69bdea 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/manifest.json
+++ b/150case_data_enhance_blender_v2_trajectory_refine/manifest.json
@@ -4,12 +4,12 @@
"path_in_repo": "150case_data_enhance_blender_v2_trajectory_refine",
"dataset_path": ".",
"source_prefix_read_only": "150case_data_enhance_blender_v2",
- "episodes": 104,
- "frames": 141341,
- "videos": 312,
+ "episodes": 105,
+ "frames": 142823,
+ "videos": 315,
"origin_counts": {
"original_clean": 92,
- "refined": 12
+ "refined": 13
},
"original_previous_filter_count": 92,
"refined_snapshot_expected": 19,
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes.jsonl b/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes.jsonl
index 82725b79226617dbd81f4b16d63bb1cb627e1c00..ae9b74ba09462f81c77dc258b4a61c910868076d 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes.jsonl
+++ b/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes.jsonl
@@ -102,3 +102,4 @@
{"episode_index": 101, "tasks": ["Stack_the_cups_together."], "length": 1512}
{"episode_index": 102, "tasks": ["Stack_the_cups_together."], "length": 1369}
{"episode_index": 103, "tasks": ["Stack_the_cups_together."], "length": 1475}
+{"episode_index": 104, "tasks": ["Stack_the_cups_together."], "length": 1482}
diff --git a/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes_stats.jsonl b/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes_stats.jsonl
index bda987051be0c168804733f3d9d8958789248189..2d29dc6d770e3d791bb888718c0ff5b8909627f1 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes_stats.jsonl
+++ b/150case_data_enhance_blender_v2_trajectory_refine/meta/episodes_stats.jsonl
@@ -102,3 +102,4 @@
{"episode_index": 101, "stats": {"observation.state": {"min": [0.5173866152763367, -1.0132396221160889, 0.2796788811683655, 0.017226874828338623, 0.00897074956446886, 0.747562050819397, -0.8224201798439026, -0.25821056962013245, -1.4039099216461182, 0.17122882604599, -0.6319913268089294, 0.005673420615494251, -0.1933133453130722, 0.014535501599311829, 0.014518549665808678, -0.27995264530181885, 0.014535762369632721, -0.27995264530181885, 0.014525148086249828, -0.33913832902908325, -0.3768691420555115, 0.933912456035614, 1.1801527738571167, 0.3100023567676544, 0.00762242591008544, -0.6913337707519531, 0.013019883073866367, 0.013005545362830162, -0.4385265111923218, 0.013020706363022327, -0.4385267198085785, 0.013012376613914967], "max": [0.7302210330963135, -0.8003756999969482, 0.28015485405921936, 0.01734325662255287, 0.009041065350174904, 0.7487258911132812, -0.0664336308836937, 0.4708823263645172, -0.7149562835693359, 1.6627569198608398, -0.1688934564590454, 0.7005117535591125, 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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/meta/info.json b/150case_data_enhance_blender_v2_trajectory_refine/meta/info.json
index f463ae0c7de6bfeb7f435ab1a3d1d928f85a1cdd..f04982043e2a5b9651e2f44ec1e9a436c90043b0 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/meta/info.json
+++ b/150case_data_enhance_blender_v2_trajectory_refine/meta/info.json
@@ -4,15 +4,15 @@
"campaign_id": "s1_previous_filter92_and_refined19",
"physical_campaign_id": "s1_heightfit_3x1_20261017",
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- "total_episodes": 104,
- "total_frames": 141341,
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+ "total_frames": 142823,
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
@@ -269,7 +269,7 @@
},
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/meta/source_case_groups.json b/150case_data_enhance_blender_v2_trajectory_refine/meta/source_case_groups.json
index 653ca1ba6c56fa38c5dd0444704a7428b711d7a7..c2b93b7b31bb8e7ad58144c271f3f1a886a4775d 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/meta/source_case_groups.json
+++ b/150case_data_enhance_blender_v2_trajectory_refine/meta/source_case_groups.json
@@ -42,7 +42,8 @@
64
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/meta/source_cases.jsonl b/150case_data_enhance_blender_v2_trajectory_refine/meta/source_cases.jsonl
index 72cdf5d25fe0db5cd6f677aaff624624fae80c48..d927627c65ce9fcc98a6210a52c8ce0b3f1c7f4c 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/meta/source_cases.jsonl
+++ b/150case_data_enhance_blender_v2_trajectory_refine/meta/source_cases.jsonl
@@ -102,3 +102,4 @@
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diff --git a/150case_data_enhance_blender_v2_trajectory_refine/meta/stats.json b/150case_data_enhance_blender_v2_trajectory_refine/meta/stats.json
index 55dc48e55e9d7d4ac683c0d9fa4e7592bb392225..0cc6ae8876b92e4ae85dd20920e3d98cf347a838 100644
--- a/150case_data_enhance_blender_v2_trajectory_refine/meta/stats.json
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@@ -69,75 +69,75 @@
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