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auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_METADATA_RECONSTRUCTION.json

@@ -0,0 +1,44 @@
+{
+  "schema": "camera_metadata_reconstruction_v1",
+  "reason": "Legacy audit_views wrote reconstructed arrays over the native camera metadata path. Auditor fixed to use a separate filename.",
+  "native_original_file_preserved": false,
+  "derived_from": "Recorded measured robot_link_pose multiplied by authored rigid camera mounts; control ticks and physics clock preserved.",
+  "source_recording_sha256": "205375038e8b94c90f98e61d918278da37059ab66d4c6df0f4c452c3643940cf",
+  "legacy_auditor_output_sha256": "a4f8ded2e8ae8dc2e6b53339d0819e6f8d00adcd74b5a3527a4ea5c4948cbb15",
+  "reconstructed_metadata_sha256": "5e5f837f265ff71af5f3ad742b09fe917d1605356d53e9dc88d2fc9b7cfc20e5",
+  "schema_and_mount_check": {
+    "schema": "multi_camera_extrinsics_audit_v1",
+    "passed": true,
+    "checks": {
+      "camera_order": true,
+      "shape": true,
+      "control_tick_mapping": true,
+      "timestamp_mapping": true,
+      "global_step_mapping": true,
+      "finite": true,
+      "homogeneous_row": true,
+      "rigid_rotation": true,
+      "rigid_mount_alignment": true
+    },
+    "failures": [],
+    "frames": 9301,
+    "rotation_orthogonality_max_error": 1.7763568394002505e-15,
+    "rotation_determinant_max_error": 2.220446049250313e-15,
+    "mount_errors": {
+      "top_head": {
+        "translation_m": 1.355199909595506e-15,
+        "rotation_rad": 4.659621007648723e-16
+      },
+      "hand_left": {
+        "translation_m": 1.4177095929570765e-15,
+        "rotation_rad": 5.789300118079809e-16
+      },
+      "hand_right": {
+        "translation_m": 1.2412670766236366e-15,
+        "rotation_rad": 6.961408781679454e-16
+      }
+    },
+    "camera_extrinsics_sha256": "5e5f837f265ff71af5f3ad742b09fe917d1605356d53e9dc88d2fc9b7cfc20e5"
+  },
+  "video_and_action_data_unchanged": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_WARMUP.json

@@ -0,0 +1,21 @@
+{
+  "status": "PASSED",
+  "after_physics_stability": true,
+  "discarded_render_reads": 3,
+  "render_only_warmups": 12,
+  "unrecorded_hold_samples": 3,
+  "captured_frames": 0,
+  "final_stability_window": {
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+    "robot_link_rotation_span_rad": 0.000971455468254357,
+    "prop_translation_span_m": 5.01388093109443e-06,
+    "prop_rotation_span_rad": 0.00010944560744384585,
+    "camera_link_translation_span_m": 2.1655442863207995e-06,
+    "camera_link_rotation_span_rad": 6.745997766723478e-06,
+    "driven_robot_link_translation_span_m": 2.728825364651584e-06,
+    "driven_robot_link_rotation_span_rad": 6.833900618586535e-06,
+    "joint_span": 0.0015297234058380127,
+    "joint_speed_max": 0.019901065155863762,
+    "passive_finger_max_projected_motion_px": 0.13587846977575585
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_01.json

@@ -0,0 +1,17 @@
+{
+  "policy": "precision_body_route_v2",
+  "waist_lift_m": 0.55,
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.3
+  },
+  "exit_distance_m": 0.35,
+  "route_search": {
+    "expanded": 1,
+    "seconds": 0.37619982566684484
+  },
+  "failures": [],
+  "planning_seconds": 14.399947275873274,
+  "preflight_only": true,
+  "full_native_audit_required": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CODE_HASHES.json

@@ -0,0 +1,114 @@
+{
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+  "probe_precision_return_controller.py": "0e50b35cd6ed4a865d4eb97d33a74bec0d4ff42ab26d7baa80094336048d6b08"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json

@@ -0,0 +1,25 @@
+{
+  "passed": true,
+  "receipt": {
+    "schema": "ziche.contact_capture.v1",
+    "requested_targets": [
+      "/World/Assets/ShelfItems/good2grow",
+      "/World/Assets/Tier2Items/honeymaid",
+      "/World/Assets/ShelfItems/sprite_c1"
+    ],
+    "filter_semantics": "robot_or_any_requested_target",
+    "all_physics_ticks": true,
+    "control_ticks": 27905,
+    "dropped_rows": 0,
+    "callback_rows": 778367,
+    "stream": "contacts.jsonl.gz"
+  },
+  "contact_rows": 778367,
+  "targets_with_recorded_contacts": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/ShelfItems/sprite_c1",
+    "/World/Assets/Tier2Items/honeymaid"
+  ],
+  "invalid_tick_rows": [],
+  "active_item_identity_mismatch_rows": []
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json

@@ -0,0 +1,66 @@
+{
+  "passed": true,
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+    {
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+      "filter_window_ticks": 7
+    },
+    {
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+      "target": "/World/Assets/ShelfItems/sprite_c1",
+      "hand": "l",
+      "passed": true,
+      "native_hz": 60,
+      "navigation_samples": 2511,
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+      "last_source_control_tick": 25996,
+      "maximum_object_in_hand_translation_drift_m": 7.933612641980736e-06,
+      "maximum_hand_highpass_residual_m": 5.381615768165726e-05,
+      "maximum_hand_highpass_angular_residual_rad": 2.384124370063407e-05,
+      "angular_highpass_limit_rad": 0.05235987755982989,
+      "hand_highpass_p99_m": 5.226731011206893e-05,
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+      "hand_highpass_limit_m": 0.005,
+      "sustained_threshold_ticks": 6,
+      "filter_window_ticks": 7
+    }
+  ],
+  "semantics": "Measured hand pose relative to moving base and each active target pose relative to its assigned hand; all item carries use the unchanged single-item thresholds."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/ITEM_EVENTS.json

@@ -0,0 +1,348 @@
+{
+  "schema": "ziche.multi_item_events.v1",
+  "requested_objects": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/ShelfItems/sprite_c1"
+  ],
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+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/ShelfItems/sprite_c1"
+  ],
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/LIVE_DRIVE_READBACK.json

@@ -0,0 +1,4 @@
+{
+  "idx41_gripper_l_outer_joint1": 80.0,
+  "idx81_gripper_r_outer_joint1": 80.0
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json

@@ -0,0 +1,350 @@
+{
+  "schema": "multi_prop_no_fall_audit_v1",
+  "passed": true,
+  "thresholds": {
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+    "max_downward_m": 0.01,
+    "max_rotation_deg": 15.0,
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+    "authored_to_first_downward_m": 0.001,
+    "authored_to_first_rotation_deg": 0.5
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+  "quaternions_normalized_float64": true,
+  "reference": "authored/reset pose captured immediately before the first unrecorded preroll physics step",
+  "non_target_scope": "every preroll sample and every retained control row through episode end",
+  "requested_target_scope": "preroll and retained rows before its own pick, plus item_completed through episode end",
+  "manipulation_scope": "excluded here and independently covered by lift/grasp/place/support/collision gates",
+  "paths": [
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+    "all_requested_and_nonrequested_props_included": true
+  },
+  "producer_initial_prop_no_fall_checks": {
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+    "all_preroll_samples": true,
+    "translation": true,
+    "downward": true,
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+  "evidence_sha256": {
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+    "INITIAL_PROP_NO_FALL.json": "45c53ceb2d57fd6a5b6b276c08696e3b642b42ddac338c2607036be84fc49a1f"
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json

@@ -0,0 +1,196 @@
+{
+  "schema": "ziche.multi10.official_lerobot_reader_qa.v1",
+  "created_utc": "2026-10-06T22:13:38.980854+00:00",
+  "layout_id": 4,
+  "passed": true,
+  "dataset": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04",
+  "reader": "lerobot LeRobotDataset(video_backend='pyav')",
+  "dataset_length": 9301,
+  "parquet_rows": 9301,
+  "metadata_frames": 9301,
+  "fps": 20,
+  "sample_indices": [
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+        "item_index": true,
+        "phase_index": true,
+        "timestamp": true,
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+        "item_index": true,
+        "phase_index": true,
+        "timestamp": true,
+        "simulator_time_s": true
+      },
+      "task": "Starting with an empty tray, pick up good2grow, honeymaid, sprite_c1 from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.",
+      "images": {
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+      "scalar_alignment": {
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+        "source_control_tick": true,
+        "item_index": true,
+        "phase_index": true,
+        "timestamp": true,
+        "simulator_time_s": true
+      },
+      "task": "Starting with an empty tray, pick up good2grow, honeymaid, sprite_c1 from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.",
+      "images": {
+        "observation.images.top_head": {
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+            800,
+            1280
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+          "standard_deviation": 0.23991192877292633
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+        "observation.images.hand_left": {
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+          "standard_deviation": 0.29839321970939636
+        },
+        "observation.images.hand_right": {
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+          "minimum": 0.0,
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+  "failures": [],
+  "parquet_sha256": "44cc14ce53bc3f29376cdfaec652d7bd764f702a4e58dac31147b6f89c3c1351",
+  "note": "First/middle/last rows and all three images decoded through the official reader; full sequential decode is reused by exact video hashes."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json

@@ -0,0 +1,42 @@
+{
+  "schema": "multi_startup_clock_audit_v1",
+  "passed": true,
+  "checks": {
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+    "rates": true,
+    "unrecorded_preroll_steps": true,
+    "unrecorded_preroll_duration": true,
+    "retained_rows": true,
+    "first_global_step": true,
+    "timestamp_formula": true,
+    "global_step_formula": true,
+    "camera_formula": true,
+    "command_semantics": true,
+    "contact_semantics": true,
+    "recording_tick": true,
+    "recording_timestamp": true
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+  "clock": {
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+    "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)",
+    "retained_camera_row_formula": "control_tick % 3 == 0",
+    "retained_camera_frame_count": 9301,
+    "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.",
+    "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded."
+  },
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+  "retained_rows": 27905,
+  "preroll_rows_60hz": 38
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_01.json

@@ -0,0 +1,137 @@
+{
+  "target": "/World/Assets/Tier2Items/honeymaid",
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+    "environment_clear_control_ticks": 15,
+    "environment_contact_ticks": [],
+    "native_contact_required": true
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json

@@ -0,0 +1,23 @@
+{
+  "target": "/World/Assets/Tier2Items/honeymaid",
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json

@@ -0,0 +1,556 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008962.json

@@ -0,0 +1,24 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009474.json

@@ -0,0 +1,23 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00011010.json

@@ -0,0 +1,25 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019459.json

@@ -0,0 +1,23 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020696.json

@@ -0,0 +1,23 @@
+{
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json

@@ -0,0 +1,8 @@
+{
+  "schema": "ziche.repair_evidence.v1",
+  "source_case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04",
+  "files": [],
+  "planning_wait_references": [],
+  "native_planning_waits_preserved": true,
+  "all_referenced_repairs_portable": true
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RESULT.json

@@ -0,0 +1,19 @@
+{
+  "status": "PHYSICS_COMPLETE_UNVERIFIED",
+  "accepted": false,
+  "error": null,
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+  "rendered": true,
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+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/ShelfItems/sprite_c1"
+  ],
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+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/ShelfItems/sprite_c1"
+  ],
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+  "requires": "independent collision, task, drive, continuity and export validation"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json

@@ -0,0 +1,80 @@
+{
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+    "scope": "primitives_with_return_stage_only",
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+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_AUDIT.json

@@ -0,0 +1,190 @@
+{
+  "schema": "ziche.multi10.return_forward_head_audit.v3",
+  "passed": true,
+  "case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04",
+  "policy": "empty_return_forward_head_v3",
+  "policy_installed_at_control_tick": 0,
+  "classification": "FULL_FRESH_EPISODE_COMPLIANT",
+  "fresh_episode_required": true,
+  "installed_before_recording": true,
+  "full_trace_compliant": true,
+  "postinstall_trace_compliant": true,
+  "fixed_expected_metadata": {
+    "head_joints": [
+      "idx11_head_joint1",
+      "idx12_head_joint2"
+    ],
+    "compensate_body_joint": "idx02_body_joint2",
+    "pitch_clip_rad": [
+      -0.34033920413889424,
+      0.5148721293383273
+    ],
+    "pitch_clip_deg": [
+      -19.5,
+      29.500000000000004
+    ],
+    "command_formula": "head_yaw=0; head_pitch=clip(-commanded_body2,-19.5deg,+29.5deg)",
+    "actual_formula": "expected_head_pitch=clip(-measured_body2,-19.5deg,+29.5deg); actual joint tracking error <=0.1deg",
+    "predicted_optical_pitch_formula": "-(body2+head_pitch)",
+    "correction": "v2 incorrectly treated camera pitch as a fixed head-only target. v3 accounts for idx02_body_joint2 at every recorded row; historical v2 evidence is retained but is not valid for fresh acceptance."
+  },
+  "thresholds": {
+    "base_moving_abs_gt": 1e-08,
+    "head_command_target_error_rad_max": 1e-10,
+    "head_actual_target_error_rad_max": 0.0017453292519943296,
+    "head_actual_target_error_deg_max": 0.1
+  },
+  "counts": {
+    "control_rows": 27905,
+    "empty_return_rows": 8835,
+    "moving_empty_return_rows": 5054,
+    "transition_rows": 480,
+    "preinstall_empty_return_rows": 0
+  },
+  "expected_nonfinal_item_indices": [
+    0,
+    1
+  ],
+  "return_item_indices": [
+    0,
+    1
+  ],
+  "moving_return_item_indices": [
+    0,
+    1
+  ],
+  "moving_return_max_command_error_rad": 5.551115123125783e-17,
+  "moving_return_max_actual_error_rad": 7.470495142475331e-05,
+  "moving_return_max_actual_error_deg": 0.0042802784253681905,
+  "moving_return_optical_pitch_command_deg_range": [
+    -10.500045231055665,
+    -0.0
+  ],
+  "moving_return_optical_pitch_actual_deg_range": [
+    -10.504062547197984,
+    0.0001652208185743912
+  ],
+  "bad_moving_command_rows": [],
+  "bad_moving_actual_rows": [],
+  "transition_motion_rows": [],
+  "transitions": [
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006602.json",
+      "sha256": "bddf7c9ace358c130111afa387460754f1eccc0130f4c3144f76c8d1ebaa4251",
+      "kind": "raise_before_walking",
+      "start_tick": 6602,
+      "end_tick": 6722,
+      "checks": {
+        "schema": true,
+        "policy": true,
+        "kind": true,
+        "range": true,
+        "after_install": true,
+        "base_stopped": true,
+        "empty_return_phase": true,
+        "item_alignment": true,
+        "before_or_after_all_item_base_motion": true,
+        "raise_targets_level_or_restore_has_two_targets": "True",
+        "raise_body_pitch_constant": "True",
+        "head_joint_scope": true,
+        "target_shape": true,
+        "screened": true,
+        "no_pose_writes": true,
+        "source_hash": true
+      },
+      "failures": []
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011010.json",
+      "sha256": "68a58b7f1e99ac39dcab0e7bbeb05aade5ce2ce89cee6f54690d8a92b77ef116",
+      "kind": "restore_pick_gaze_after_arrival",
+      "start_tick": 11010,
+      "end_tick": 11130,
+      "checks": {
+        "schema": true,
+        "policy": true,
+        "kind": true,
+        "range": true,
+        "after_install": true,
+        "base_stopped": true,
+        "empty_return_phase": true,
+        "item_alignment": true,
+        "before_or_after_all_item_base_motion": true,
+        "raise_targets_level_or_restore_has_two_targets": true,
+        "raise_body_pitch_constant": true,
+        "head_joint_scope": true,
+        "target_shape": true,
+        "screened": true,
+        "no_pose_writes": true,
+        "source_hash": true
+      },
+      "failures": []
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json",
+      "sha256": "c91df99832a7aca24144c63bd118299ab0aa34cb9ccc835809d6bf425aa6fa80",
+      "kind": "raise_before_walking",
+      "start_tick": 17489,
+      "end_tick": 17609,
+      "checks": {
+        "schema": true,
+        "policy": true,
+        "kind": true,
+        "range": true,
+        "after_install": true,
+        "base_stopped": true,
+        "empty_return_phase": true,
+        "item_alignment": true,
+        "before_or_after_all_item_base_motion": true,
+        "raise_targets_level_or_restore_has_two_targets": "True",
+        "raise_body_pitch_constant": "True",
+        "head_joint_scope": true,
+        "target_shape": true,
+        "screened": true,
+        "no_pose_writes": true,
+        "source_hash": true
+      },
+      "failures": []
+    },
+    {
+      "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json",
+      "sha256": "68acc00b6bd83453d6b5c5ff203075368ba081670e84e9ab2b7c1a4fba7ede1c",
+      "kind": "restore_pick_gaze_after_arrival",
+      "start_tick": 21676,
+      "end_tick": 21796,
+      "checks": {
+        "schema": true,
+        "policy": true,
+        "kind": true,
+        "range": true,
+        "after_install": true,
+        "base_stopped": true,
+        "empty_return_phase": true,
+        "item_alignment": true,
+        "before_or_after_all_item_base_motion": true,
+        "raise_targets_level_or_restore_has_two_targets": true,
+        "raise_body_pitch_constant": true,
+        "head_joint_scope": true,
+        "target_shape": true,
+        "screened": true,
+        "no_pose_writes": true,
+        "source_hash": true
+      },
+      "failures": []
+    }
+  ],
+  "basic_checks": {
+    "aligned_arrays": true,
+    "finite": true,
+    "tick_sequence": true,
+    "policy_name": true,
+    "head_joint_scope": true,
+    "compensated_body_joint": true,
+    "pitch_clip": true,
+    "restore_stopped": true
+  },
+  "policy_implementation_check": true,
+  "recording_sha256": "205375038e8b94c90f98e61d918278da37059ab66d4c6df0f4c452c3643940cf",
+  "policy_receipt_sha256": "1b0feff46330e9be2c87516451f667d4dc909447b02d35100ad8820b348b3653",
+  "failures": []
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006602.json

@@ -0,0 +1,29 @@
+{
+  "schema": "multi_return_head_transition_v1",
+  "policy": "empty_return_forward_head_v3",
+  "item_index": 0,
+  "kind": "raise_before_walking",
+  "start_tick": 6602,
+  "end_tick": 6722,
+  "head_joints": [
+    "idx11_head_joint1",
+    "idx12_head_joint2"
+  ],
+  "previous_command_rad": [
+    3.7360550777520984e-06,
+    0.4363457262516022
+  ],
+  "target_rad": [
+    0.0,
+    -0.34033920413889424
+  ],
+  "measured_error_rad": [
+    1.9770203252278407e-09,
+    0.00012599474825397694
+  ],
+  "base_held": true,
+  "all_live_props_screened": true,
+  "no_pose_writes": true,
+  "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/return_head_policy.py",
+  "source_sha256": "2705cfc2c5a21931ea09f2bf31da91ab583c3579b94fe2e7415b64d5d7a15fb5"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011010.json

@@ -0,0 +1,29 @@
+{
+  "schema": "multi_return_head_transition_v1",
+  "policy": "empty_return_forward_head_v3",
+  "item_index": 0,
+  "kind": "restore_pick_gaze_after_arrival",
+  "start_tick": 11010,
+  "end_tick": 11130,
+  "head_joints": [
+    "idx11_head_joint1",
+    "idx12_head_joint2"
+  ],
+  "previous_command_rad": [
+    0.0,
+    0.0
+  ],
+  "target_rad": [
+    0.0,
+    0.4363323152065277
+  ],
+  "measured_error_rad": [
+    1.014610973015806e-08,
+    7.081031799316406e-05
+  ],
+  "base_held": true,
+  "all_live_props_screened": true,
+  "no_pose_writes": true,
+  "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/return_head_policy.py",
+  "source_sha256": "2705cfc2c5a21931ea09f2bf31da91ab583c3579b94fe2e7415b64d5d7a15fb5"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_PLAN.item_00.json

@@ -0,0 +1,80 @@
+{
+  "policy": "empty_hand_full_body_return_v1",
+  "table_retreat_m": 0.45,
+  "shelf_standoff_m": 0.4,
+  "standoff_base": [
+    [
+      0.08046442083090181,
+      -0.9967574815271506,
+      0.0,
+      -2.4228067154744606
+    ],
+    [
+      0.9967574815271506,
+      0.08046442083090181,
+      0.0,
+      0.9447217061113803
+    ],
+    [
+      0.0,
+      0.0,
+      1.0000000000000002,
+      0.0013671815395355225
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.15
+  },
+  "route_search": {
+    "expanded": 1,
+    "seconds": 0.24810446798801422
+  },
+  "failures": [],
+  "planning_seconds": 13.910233526024967,
+  "all_live_props_checked": true,
+  "no_attached_object": true,
+  "head_policy": {
+    "policy": "empty_return_forward_head_v3",
+    "joints": [
+      "idx11_head_joint1",
+      "idx12_head_joint2"
+    ],
+    "compensate_body_joint": "idx02_body_joint2",
+    "pitch_clip_rad": [
+      -0.34033920413889424,
+      0.5148721293383273
+    ],
+    "transition_seconds": 2.0,
+    "lift_before_table_retreat": true,
+    "includes_shelf_approach": true,
+    "restore_source_gaze_only_after_stopped_arrival": true,
+    "both_head_transitions_full_body_and_all_props_screened": true
+  },
+  "execution_controller": {
+    "controller": "PrecisionReturnController",
+    "scope": "primitives_with_return_stage_only",
+    "turn_deadband_rad": 9e-05,
+    "turn_done_error_rad": 9e-05,
+    "turn_done_speed_rad_s": 0.0002,
+    "turn_min_speed_rad_s": 0.003,
+    "turn_min_speed_basis": "native_static_friction_microturn_recoveries_layout07_layout10_0p003_rad_s",
+    "drive_deadband_m": 0.0002,
+    "drive_done_error_m": 0.0002,
+    "drive_done_speed_m_s": 0.001,
+    "drive_min_speed_m_s": 0.0001,
+    "speed_and_acceleration_caps_unchanged": true,
+    "static_friction_endpoint_acceptance_m_rad": [
+      0.0005,
+      0.0001
+    ],
+    "arrival_translation_gate_m": 0.0005,
+    "arrival_yaw_gate_rad": 0.0001
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_PLAN.item_01.json

@@ -0,0 +1,80 @@
+{
+  "policy": "empty_hand_full_body_return_v1",
+  "table_retreat_m": 0.45,
+  "shelf_standoff_m": 0.4,
+  "standoff_base": [
+    [
+      0.00251879420050687,
+      -0.9999968278328565,
+      0.0,
+      -2.378922552727896
+    ],
+    [
+      0.9999968278328565,
+      0.00251879420050687,
+      0.0,
+      0.9383559670780184
+    ],
+    [
+      0.0,
+      0.0,
+      1.0,
+      0.0013671815395355225
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "posture": {
+    "hand_forward_m": 0.3,
+    "hand_height_change_m": -0.15
+  },
+  "route_search": {
+    "expanded": 1,
+    "seconds": 0.2657262240536511
+  },
+  "failures": [],
+  "planning_seconds": 13.902149603236467,
+  "all_live_props_checked": true,
+  "no_attached_object": true,
+  "head_policy": {
+    "policy": "empty_return_forward_head_v3",
+    "joints": [
+      "idx11_head_joint1",
+      "idx12_head_joint2"
+    ],
+    "compensate_body_joint": "idx02_body_joint2",
+    "pitch_clip_rad": [
+      -0.34033920413889424,
+      0.5148721293383273
+    ],
+    "transition_seconds": 2.0,
+    "lift_before_table_retreat": true,
+    "includes_shelf_approach": true,
+    "restore_source_gaze_only_after_stopped_arrival": true,
+    "both_head_transitions_full_body_and_all_props_screened": true
+  },
+  "execution_controller": {
+    "controller": "PrecisionReturnController",
+    "scope": "primitives_with_return_stage_only",
+    "turn_deadband_rad": 9e-05,
+    "turn_done_error_rad": 9e-05,
+    "turn_done_speed_rad_s": 0.0002,
+    "turn_min_speed_rad_s": 0.003,
+    "turn_min_speed_basis": "native_static_friction_microturn_recoveries_layout07_layout10_0p003_rad_s",
+    "drive_deadband_m": 0.0002,
+    "drive_done_error_m": 0.0002,
+    "drive_done_speed_m_s": 0.001,
+    "drive_min_speed_m_s": 0.0001,
+    "speed_and_acceleration_caps_unchanged": true,
+    "static_friction_endpoint_acceptance_m_rad": [
+      0.0005,
+      0.0001
+    ],
+    "arrival_translation_gate_m": 0.0005,
+    "arrival_yaw_gate_rad": 0.0001
+  }
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json

@@ -0,0 +1,183 @@
+{
+  "schema": "real2sim.full_robot_collision_profile.v4",
+  "robot_path": "/World/Robot",
+  "official_robot_asset_id": "g1_official_41_plus_4_camera_mesh_colliders",
+  "expected_collision_geometry_count": 45,
+  "required_camera_collision_paths": [
+    "/World/Robot/gripper_l_base_link/Cam/Cam/NONE",
+    "/World/Robot/gripper_l_base_link/Cam/Cam/cam",
+    "/World/Robot/gripper_r_base_link/Cam/Cam/NONE",
+    "/World/Robot/gripper_r_base_link/Cam/Cam/cam"
+  ],
+  "camera_collision_approximation": "convexDecomposition",
+  "self_collision_enabled": true,
+  "collision_enabled_paths": [
+    "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder",
+    "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder",
+    "/World/Robot/base_link/collisions/mesh_0/box",
+    "/World/Robot/base_link/collisions/mesh_1/box",
+    "/World/Robot/body_link1/collisions/mesh_0/box",
+    "/World/Robot/body_link1/collisions/mesh_1/box",
+    "/World/Robot/body_link2/collisions/mesh_0/cylinder",
+    "/World/Robot/body_link2/collisions/mesh_1/box",
+    "/World/Robot/gripper_l_base_link/Cam/Cam/NONE",
+    "/World/Robot/gripper_l_base_link/Cam/Cam/cam",
+    "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh",
+    "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh",
+    "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh",
+    "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh",
+    "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh",
+    "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh",
+    "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh",
+    "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh",
+    "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh",
+    "/World/Robot/gripper_r_base_link/Cam/Cam/NONE",
+    "/World/Robot/gripper_r_base_link/Cam/Cam/cam",
+    "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh",
+    "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh",
+    "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh",
+    "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh",
+    "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh",
+    "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh",
+    "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh",
+    "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh",
+    "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh",
+    "/World/Robot/head_link2/collisions/mesh_0/sphere"
+  ],
+  "filtered_body_pairs": [
+    [
+      "/World/Robot/arm_l_base_link",
+      "/World/Robot/base_link"
+    ],
+    [
+      "/World/Robot/arm_l_base_link",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/arm_l_link1",
+      "/World/Robot/base_link"
+    ],
+    [
+      "/World/Robot/arm_l_link1",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/arm_l_link2",
+      "/World/Robot/base_link"
+    ],
+    [
+      "/World/Robot/arm_l_link2",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/arm_r_base_link",
+      "/World/Robot/base_link"
+    ],
+    [
+      "/World/Robot/arm_r_base_link",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/arm_r_link1",
+      "/World/Robot/base_link"
+    ],
+    [
+      "/World/Robot/arm_r_link1",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/arm_r_link2",
+      "/World/Robot/base_link"
+    ],
+    [
+      "/World/Robot/arm_r_link2",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/base_link",
+      "/World/Robot/body_link2"
+    ],
+    [
+      "/World/Robot/base_link",
+      "/World/Robot/head_link2"
+    ],
+    [
+      "/World/Robot/body_link2",
+      "/World/Robot/head_link2"
+    ],
+    [
+      "/World/Robot/gripper_l_inner_link1",
+      "/World/Robot/gripper_l_inner_link2"
+    ],
+    [
+      "/World/Robot/gripper_l_inner_link2",
+      "/World/Robot/gripper_l_inner_link3"
+    ],
+    [
+      "/World/Robot/gripper_l_outer_link1",
+      "/World/Robot/gripper_l_outer_link2"
+    ],
+    [
+      "/World/Robot/gripper_l_outer_link2",
+      "/World/Robot/gripper_l_outer_link3"
+    ],
+    [
+      "/World/Robot/gripper_r_inner_link1",
+      "/World/Robot/gripper_r_inner_link2"
+    ],
+    [
+      "/World/Robot/gripper_r_inner_link2",
+      "/World/Robot/gripper_r_inner_link3"
+    ],
+    [
+      "/World/Robot/gripper_r_outer_link1",
+      "/World/Robot/gripper_r_outer_link2"
+    ],
+    [
+      "/World/Robot/gripper_r_outer_link2",
+      "/World/Robot/gripper_r_outer_link3"
+    ]
+  ],
+  "robot_world_filtered_pairs": [],
+  "required_regions": [
+    "base_and_torso",
+    "head",
+    "left_arm",
+    "right_arm",
+    "left_gripper",
+    "right_gripper",
+    "left_camera_housing",
+    "right_camera_housing"
+  ],
+  "region_counts": {
+    "base_and_torso": 6,
+    "head": 1,
+    "left_arm": 8,
+    "right_arm": 8,
+    "left_gripper": 9,
+    "right_gripper": 9,
+    "left_camera_housing": 2,
+    "right_camera_housing": 2
+  },
+  "unclassified_count": 0,
+  "missing_regions": [],
+  "collision_enabled_path_count": 45,
+  "filtered_body_pair_count": 23,
+  "robot_world_filtered_pair_count": 0,
+  "complete": true,
+  "profile_id": "real2sim.full_robot_collision_profile.v4"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json

@@ -0,0 +1,196 @@
+{
+  "fields_units_timing_match_reference": true,
+  "authored_robot_parameters_preserved_except_requested_gripper_effort": true,
+  "runtime_gripper_effort_Nm": {
+    "left": 80,
+    "right": 80
+  },
+  "joint_names": [
+    "idx21_arm_l_joint1",
+    "idx22_arm_l_joint2",
+    "idx23_arm_l_joint3",
+    "idx24_arm_l_joint4",
+    "idx25_arm_l_joint5",
+    "idx26_arm_l_joint6",
+    "idx27_arm_l_joint7",
+    "idx61_arm_r_joint1",
+    "idx62_arm_r_joint2",
+    "idx63_arm_r_joint3",
+    "idx64_arm_r_joint4",
+    "idx65_arm_r_joint5",
+    "idx66_arm_r_joint6",
+    "idx67_arm_r_joint7",
+    "idx01_body_joint1",
+    "idx02_body_joint2",
+    "idx11_head_joint1",
+    "idx12_head_joint2",
+    "idx41_gripper_l_outer_joint1",
+    "idx81_gripper_r_outer_joint1"
+  ],
+  "actual_joint_limits": [
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
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+      3.141592653589793
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+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      -3.141592653589793,
+      3.141592653589793
+    ],
+    [
+      0.0,
+      0.550000011920929
+    ],
+    [
+      0.0,
+      1.5707963267948966
+    ],
+    [
+      -1.5707963267948966,
+      1.5707963267948966
+    ],
+    [
+      -0.3490658171093523,
+      0.5235987755982988
+    ],
+    [
+      0.0,
+      0.7853981633974483
+    ],
+    [
+      0.0,
+      0.7853981633974483
+    ]
+  ],
+  "reference_joint_limits": [
+    [
+      -3.139847,
+      3.139847
+    ],
+    [
+      -2.089159,
+      1.480039
+    ],
+    [
+      -3.099705,
+      3.099705
+    ],
+    [
+      -1.480039,
+      1.480039
+    ],
+    [
+      -3.099705,
+      3.099705
+    ],
+    [
+      -1.740093,
+      1.740093
+    ],
+    [
+      -3.099705,
+      3.099705
+    ],
+    [
+      -3.139847,
+      3.139847
+    ],
+    [
+      -1.480039,
+      2.089159
+    ],
+    [
+      -3.099705,
+      3.099705
+    ],
+    [
+      -1.480039,
+      1.480039
+    ],
+    [
+      -3.099705,
+      3.099705
+    ],
+    [
+      -1.740093,
+      1.740093
+    ],
+    [
+      -3.099705,
+      3.099705
+    ],
+    [
+      0.0,
+      0.55
+    ],
+    [
+      0.0,
+      1.5707963267948966
+    ],
+    [
+      -1.5707963267948966,
+      1.5707963267948966
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+    [
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+      0.523599
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+    [
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+      0.7853981633974483
+    ],
+    [
+      0.0,
+      0.7853981633974483
+    ]
+  ],
+  "joint_limits_match_reference": false,
+  "note": "The source shelf robot arm joint configuration differs from the reference robot. Joint-limit and drive settings were not replaced to unify data fields. Use actual limits and raw data statistics for training."
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STATUS.json

@@ -0,0 +1,12 @@
+{
+  "status": "ACCEPTED",
+  "phase": "user_visual_acceptance",
+  "accepted": true,
+  "acceptance_basis": "explicit_user_visual_review",
+  "items": 3,
+  "control_ticks": 27905,
+  "rollout": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout",
+  "acceptance_record": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/USER_ACCEPTANCE.json",
+  "lerobot_export_status": "NOT_YET_EXPORTED",
+  "updated": 1791306244.094671
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/TARGET_INITIAL_POSES.json

@@ -0,0 +1,38 @@
+{
+  "target_paths": [
+    "/World/Assets/ShelfItems/good2grow",
+    "/World/Assets/Tier2Items/honeymaid",
+    "/World/Assets/ShelfItems/sprite_c1"
+  ],
+  "pose_order": "x,y,z,qx,qy,qz,qw",
+  "target_pose": [
+    [
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+      2.158154010772705,
+      1.182828426361084,
+      -3.3077185435104184e-10,
+      -4.6782133722444996e-11,
+      -0.17040786147117615,
+      0.9853737354278564
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+      0.7513301968574524,
+      0.0,
+      0.0,
+      -0.552232563495636,
+      0.8336901068687439
+    ],
+    [
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+      2.2176008224487305,
+      1.1829593181610107,
+      0.0,
+      0.0,
+      0.3539492189884186,
+      0.9352646470069885
+    ]
+  ],
+  "capture": "before_episode_motion"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/TRAY_APPEARANCE.json

@@ -0,0 +1,11 @@
+{
+  "policy": "standalone_original_neutral_tray_palette",
+  "color": "gray",
+  "linear_rgb": [
+    0.14,
+    0.14,
+    0.14
+  ],
+  "texture": null,
+  "geometry_changed": false
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/USER_ACCEPTANCE.json

@@ -0,0 +1,19 @@
+{
+  "schema": "multi_episode_user_acceptance_v1",
+  "layout_id": 4,
+  "accepted": true,
+  "acceptance_basis": "explicit_user_visual_review",
+  "user_instruction": "我看了觉得没问题，验收吧，毫米级别的没事的",
+  "accepted_unix": 1791306244.094671,
+  "minor_millimeter_motion_accepted": true,
+  "recording_sha256": "205375038e8b94c90f98e61d918278da37059ab66d4c6df0f4c452c3643940cf",
+  "native_result": "PHYSICS_COMPLETE_UNVERIFIED",
+  "head_return_audit_passed": true,
+  "strict_automatic_checks_claimed_all_passed": false,
+  "automatic_diagnostic_reports_retained": true,
+  "manual_review_scope": "User reports viewing the results; no additional per-frame or per-camera review coverage is inferred.",
+  "case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04",
+  "rollout": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout",
+  "lerobot_export_status": "COMPLETE",
+  "dataset": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json

@@ -0,0 +1,6 @@
+{
+  "acceptance_basis": "explicit_user_visual_review",
+  "strict_diagnostic_failures_retained": true,
+  "automatic_physics_certification_claimed": false,
+  "export_script_sha256": "4d5ccfa66513ba82658bac950dd95fb11c9cc33d7988cb5cf2b8a0895383f75f"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VALIDATION_CODE_HASHES.json

@@ -0,0 +1,15 @@
+{
+  "validate_case.py": "7ef7c16cf98f5418a20fc89e27adeb56bf1e9985a520a2b3dd7c8d8b59c59605",
+  "validate_export.py": "b03cc4ac464a74acfacd89394a7d8cefb4b160782b91182c55999e3d3c2cca7f",
+  "audit_geometry.py": "bb61f4b914e5a0077ea5fb7e084849a4463112dccc78129710db113ce888abff",
+  "audit_views.py": "c1c3f2f741373dbef81d61b71612cb02dcdef5bec10931a3c34c786f90685085",
+  "grasp_stability.py": "a47e2559f1899dd84f2679dd10d7922beb5d381fda42666d7479ef9f38d4a51b",
+  "parallel_world_audit.py": "2775d5b570ca486d5a1dbf57985df90b28664fa9e07ca5d78be317a259fc7ac4",
+  "task_collision_scope.py": "cc9f3e5498ebcdf5185af62dc72e87bdbdd85c65143d854fc3d735c6420caec8",
+  "multi_validation.py": "bf0e7036ae5f3a3fe73d605f19b3c59ed3ff512b125f765b586b7a1a99fec210",
+  "startup_validation.py": "d20eddaece8e301a8983f6cda7dbd31adcdadd53901062ab09e9779fb912934a",
+  "prepare_visual_qa.py": "733bfbca5bd5357f3f546153c1f7c283448c9b4b03cbb08f472d5576befcb39b",
+  "official_lerobot_reader_qa.py": "8d529dc19bd1587f76d93e63b014bd9fee597a50ffddf2e54d03ad89a3608c2a",
+  "record_manual_review.py": "46e2c6c4372824648189e1af0300e714350c2ae28f3390028847c94ad068f401",
+  "validate_staged.py": "ca8cecba4e155d1e711943bdeb653dc68e0a04f52a3157795c1290c2291b25c7"
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/WRIST_AUDIT.json

@@ -0,0 +1,21 @@
+{
+  "passed": true,
+  "policy": "wrist_camera_upright_v2",
+  "hands": {
+    "hand_left": {
+      "passed": true,
+      "minimum_height_m": 0.06988892442378859,
+      "minimum_up_z": 0.7984510990503592,
+      "minimum_height_tick": 13972,
+      "minimum_up_tick": 13969
+    },
+    "hand_right": {
+      "passed": true,
+      "minimum_height_m": 0.057635421858238695,
+      "minimum_up_z": 0.7407827858832852,
+      "minimum_height_tick": 13980,
+      "minimum_up_tick": 2780
+    }
+  },
+  "actual_samples": 27905
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_000.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder",
+  "index": 0,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_001.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder",
+  "index": 1,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_002.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder",
+  "index": 2,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_003.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder",
+  "index": 3,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_004.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder",
+  "index": 4,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_005.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder",
+  "index": 5,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_006.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder",
+  "index": 6,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}

auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/collision_readback/COLLIDER_007.json

@@ -0,0 +1,8 @@
+{
+  "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder",
+  "index": 7,
+  "type": "Cylinder",
+  "status": "ANALYTIC_EXACT",
+  "first_observed_frame": 9300,
+  "first_observed_tick": 27904
+}