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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6150088325509575, 1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Brushed.mdl\", \"name\": \"Chromium_Brushed\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Turquoise_Purple\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5343913216926527, \"metallic_constant\": 0.009109407868793218, \"specular_level\": 0.47120378550106123}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3660828826752509, \"metallic_constant\": 0.3168150008109727, \"specular_level\": 0.12983233762819768}, {\"reflection_roughness_constant\": 0.29863227680045645, \"metallic_constant\": 0.11539521378776074, \"specular_level\": 0.6897993882045458}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Brushed.mdl\", \"name\": \"Chromium_Brushed\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.3660828826752509, \"metallic_constant\": 0.3168150008109727, \"specular_level\": 0.12983233762819768}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.856000976272455, 0.0008670281319421764, -0.001899692439223444, -0.5169699875732238]}, \"material\": {\"reflection_roughness_constant\": 0.29863227680045645, \"metallic_constant\": 0.11539521378776074, \"specular_level\": 0.6897993882045458}}, \"distractor_0\": {\"uid\": \"35\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"35\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/035_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2971951790284054, 0.4133517090782297, 0.02203180799585341], \"quaternion\": [0.9969128731696079, 0.07507026920778502, 0.023003683134631765, 9.247718930837902e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12333988853005731, 0.4497422593097592, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6150088325509575, -1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6150088325509575, -1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6150088325509575, 1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6150088325509575, 1.0189967616594684, 0.0]}, \"light_radius\": 0.08837432292085572, \"light_length\": 1.4176402644324844, \"light_intensity\": 50000.0, \"light_color_temperature\": 6455.523047450568, \"center_light_postion\": [0.43082596871695666, 0.8021032319192318, 1.368534048609552], \"center_light_orientation\": [0.9367242569542988, 0.0, 0.0, 0.35006808828200364]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Brushed.mdl\", \"name\": \"Chromium_Brushed\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750000, \"blink_pad\": 1, \"appearance_seed\": 16750000, \"blink_offset_steps\": 105, \"source_episode\": \"blinkpad1-9750000\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750003, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1382, 0.5277], \"2\": [-0.1169, 0.3663], \"3\": [-0.1658, 0.2111]}, \"randplace\": [0.0142, -0.0089, -3.6648], \"handover_result\": null}}"}
+{"episode_index": 1, "tasks": [0], "length": 1, "dataset_from_index": 1, "dataset_to_index": 1, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7792090640740216, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6463303565979004, 0.4018956422805786, 0.012000000104308128], \"quaternion\": [0.7021527047435845, 0.7021527047435843, -0.08355584492582657, -0.08355584492582657]}, \"12\": {\"position\": [-0.35305094718933105, -0.06433278322219849, 0.03657222166657448], \"quaternion\": [0.6190843428441808, 0.00014242440113348205, -0.0020833349311101257, -0.7853217276225354]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Gems/Emerald.mdl\", \"name\": \"Emerald\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4385176607912893, -0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, 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\"CylinderLight\", \"pose\": {\"position\": [0.0, 0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4385176607912893, 0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Gems/Emerald.mdl\", \"name\": \"Emerald\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl\", \"name\": \"Ceramic_Tiles_Diamond_Sky\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7876129963228333, \"metallic_constant\": 0.0752182687177223, \"specular_level\": 0.7557253667445114}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7333280887806511, \"metallic_constant\": 0.6808889595520838, \"specular_level\": 0.6658499014381577}, {\"reflection_roughness_constant\": 0.5588112273445012, \"metallic_constant\": 0.23335934418459803, \"specular_level\": 0.8095353735597017}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Gems/Emerald.mdl\", \"name\": \"Emerald\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7333280887806511, \"metallic_constant\": 0.6808889595520838, \"specular_level\": 0.6658499014381577}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8962059148843399, 0.0010227365870653282, -0.0018205985330928464, -0.4436334044649687]}, \"material\": {\"reflection_roughness_constant\": 0.5588112273445012, \"metallic_constant\": 0.23335934418459803, \"specular_level\": 0.8095353735597017}}, \"distractor_0\": {\"uid\": \"25\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17814499300365105, 0.38234639454345154, 0.031145205839611854], \"quaternion\": [0.9999952705616312, 0.0001807586360035439, -0.002239494103316246, 0.0021002016205473777]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4385176607912893, -0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4385176607912893, -0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4385176607912893, 0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4385176607912893, 0.893217142279704, 0.0]}, \"light_radius\": 0.09573860804517542, \"light_length\": 0.6904088445567917, \"light_intensity\": 50000.0, \"light_color_temperature\": 6796.505838978845, \"center_light_postion\": [-0.23069646550964718, 0.10915178031767225, 1.493895544657308], \"center_light_orientation\": [0.9767658136812133, 0.0, 0.0, 0.2143094613489505]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Gems/Emerald.mdl\", \"name\": \"Emerald\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750003, \"blink_pad\": 1, \"appearance_seed\": 16750003, \"blink_offset_steps\": 102, \"source_episode\": \"blinkpad1-9750003\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750006, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1496, 0.4604], \"2\": [-0.1283, 0.2991], \"3\": [-0.1772, 0.1439]}, \"randplace\": [0.0028, -0.0761, 5.9218], \"handover_result\": null}}"}
+{"episode_index": 2, "tasks": [0], "length": 1, "dataset_from_index": 2, "dataset_to_index": 2, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.692826632378156, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6124367713928223, 0.44254225492477417, 0.012000000104308128], \"quaternion\": [0.044536344147210055, 0.044536344147210055, -0.7057028510995269, -0.7057028510995271]}, \"12\": {\"position\": [-0.36061158776283264, 0.024031326174736023, 0.03657222166657448], \"quaternion\": [0.5678084177667143, 9.442879318570951e-06, -0.0020881762323258224, -0.8231580893996696]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Cloudy.mdl\", \"name\": \"Polycarbonate_Cloudy\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7764616541265537, -0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7764616541265537, -0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7764616541265537, 0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7764616541265537, 0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Cloudy.mdl\", \"name\": \"Polycarbonate_Cloudy\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Smudged.mdl\", \"name\": \"Glass_Clear_Light_Smudges_Variation\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.28893205082802687, \"metallic_constant\": 0.3165192311148973, \"specular_level\": 0.8062595294441857}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9125217713235475, \"metallic_constant\": 0.05913284961169296, \"specular_level\": 0.3320694135069071}, {\"reflection_roughness_constant\": 0.9982106710230148, \"metallic_constant\": 0.2757980811614906, \"specular_level\": 0.47890070888352276}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Cloudy.mdl\", \"name\": \"Polycarbonate_Cloudy\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9125217713235475, \"metallic_constant\": 0.05913284961169296, \"specular_level\": 0.3320694135069071}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8994945171181364, 0.001036306535395097, -0.0018129086876947967, -0.43692705696176076]}, \"material\": {\"reflection_roughness_constant\": 0.9982106710230148, \"metallic_constant\": 0.2757980811614906, \"specular_level\": 0.47890070888352276}}, \"distractor_0\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12669086342868374, 0.40900387684570105, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7764616541265537, -0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7764616541265537, -0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7764616541265537, 0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7764616541265537, 0.779157907845045, 0.0]}, \"light_radius\": 0.1109185434906991, \"light_length\": 1.5506968713925593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7450.7385189143115, \"center_light_postion\": [-0.1714054179109562, -1.0027608737772657, 1.4529407600813962], \"center_light_orientation\": [0.8705902586267723, 0.0, 0.0, -0.49200874136967293]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Cloudy.mdl\", \"name\": \"Polycarbonate_Cloudy\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750006, \"blink_pad\": 1, \"appearance_seed\": 16750006, \"blink_offset_steps\": 55, \"source_episode\": \"blinkpad1-9750006\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750009, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1425, 0.5432], \"2\": [-0.1212, 0.3819], \"3\": [-0.1701, 0.2267]}, \"randplace\": [0.0099, 0.0067, 6.7777], \"handover_result\": null}}"}
+{"episode_index": 3, "tasks": [0], "length": 1, "dataset_from_index": 3, "dataset_to_index": 3, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6976136189667189, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6025187969207764, 0.394794225692749, 0.012000000104308128], \"quaternion\": [0.36066613459224917, 0.36066613459224883, -0.608210440027369, -0.608210440027369]}, \"12\": {\"position\": [-0.3537512421607971, 0.016204476356506348, 0.03657222166657448], \"quaternion\": [0.5683312207757801, 1.0769407607910443e-05, -0.002088169812319518, -0.8227972185917785]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Red_Medium_Glossy_Deep_Scratches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.64959124245578, -1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.64959124245578, -1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.64959124245578, 1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.64959124245578, 1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Red_Medium_Glossy_Deep_Scratches\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Foil.mdl\", \"name\": \"Silver_Foil_Heavy_Glossy_Wrinkles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.28999448304069686, \"metallic_constant\": 0.3195010672223958, \"specular_level\": 0.5298215375048957}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4149153720227631, \"metallic_constant\": 0.9006546747523668, \"specular_level\": 0.18874394797747895}, {\"reflection_roughness_constant\": 0.47476938974467964, \"metallic_constant\": 0.8900200180442052, \"specular_level\": 0.44769343656886673}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": 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\"pose\": {\"position\": [0.21311012409047891, -0.3946534127870336, 0.014405887336591617], \"quaternion\": [0.9998002630089692, -0.017903083041383404, 0.008838593184136349, 0.0008904916253278422]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.64959124245578, -1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.64959124245578, -1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.64959124245578, 1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.64959124245578, 1.182591702109468, 0.0]}, \"light_radius\": 0.10048547273988981, \"light_length\": 0.9168773889597461, \"light_intensity\": 50000.0, \"light_color_temperature\": 6115.734140722082, \"center_light_postion\": [-0.842578245316021, 0.9921879056332554, 1.3892010985337524], \"center_light_orientation\": [0.8471773490650211, 0.0, 0.0, -0.5313102099820437]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Red_Medium_Glossy_Deep_Scratches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750009, \"blink_pad\": 1, \"appearance_seed\": 16750009, \"blink_offset_steps\": 83, \"source_episode\": \"blinkpad1-9750009\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750012, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1494, 0.5627], \"2\": [-0.1282, 0.4014], \"3\": [-0.177, 0.2462]}, \"randplace\": [0.003, 0.0262, -3.1028], \"handover_result\": null}}"}
+{"episode_index": 4, "tasks": [0], "length": 1, "dataset_from_index": 4, "dataset_to_index": 4, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7030671573784336, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6360812187194824, 0.4406510889530182, 0.012000000104308128], \"quaternion\": [0.21877231533343094, 0.21877231533343083, 0.672412577249749, 0.672412577249749]}, \"12\": {\"position\": [-0.3509763181209564, 0.027139149606227875, 0.03657222166657448], \"quaternion\": [0.5900380500942514, 6.636655288449838e-05, -0.002087142694182864, -0.807372738499281]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Poplar.mdl\", \"name\": \"Wood_Tiles_Poplar_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0690902544929108, -1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0690902544929108, -1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0690902544929108, 1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", 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\"Wood_Tiles_Poplar_Stackbond\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Yellow_Heavy_Wrinkles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6506585592109746, \"metallic_constant\": 0.09566482024178746, \"specular_level\": 0.8372041738616315}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6276329911439946, \"metallic_constant\": 0.17558145429543792, \"specular_level\": 0.8667140172337876}, {\"reflection_roughness_constant\": 0.3854054641921162, \"metallic_constant\": 0.04467393333957337, \"specular_level\": 0.07647650693487162}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Poplar.mdl\", \"name\": \"Wood_Tiles_Poplar_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.6276329911439946, \"metallic_constant\": 0.17558145429543792, \"specular_level\": 0.8667140172337876}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8763639741633353, 0.0009437493812324638, -0.0018627684372044746, -0.48164491507696844]}, \"material\": {\"reflection_roughness_constant\": 0.3854054641921162, \"metallic_constant\": 0.04467393333957337, \"specular_level\": 0.07647650693487162}}, \"distractor_0\": {\"uid\": \"19\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"19\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/019_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12096802933315316, 0.39589563925223514, 0.11147754429004073], \"quaternion\": [0.999999963450531, -0.00027036809759421087, -1.694151780687647e-07, -9.33388583595994e-11]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.27133443049941564, 0.44110404149848637, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0690902544929108, -1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0690902544929108, -1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0690902544929108, 1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0690902544929108, 1.1407311085117735, 0.0]}, \"light_radius\": 0.11160743623519784, \"light_length\": 0.626128708004408, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.997449929341, \"center_light_postion\": [0.48870583548277136, 0.9415599358346038, 1.4292755673375817], \"center_light_orientation\": [0.9864716502643998, 0.0, 0.0, 0.1639319469311327]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Poplar.mdl\", \"name\": \"Wood_Tiles_Poplar_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750012, \"blink_pad\": 1, \"appearance_seed\": 16750012, \"blink_offset_steps\": 99, \"source_episode\": \"blinkpad1-9750012\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750015, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1554, 0.5884], \"2\": [-0.1341, 0.4271], \"3\": [-0.183, 0.2719]}, \"randplace\": [-0.003, 0.0519, 1.0078], \"handover_result\": null}}"}
+{"episode_index": 5, "tasks": [0], "length": 1, "dataset_from_index": 5, "dataset_to_index": 5, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7512302412419175, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6849451065063477, 0.3912593126296997, 0.012000000104308128], \"quaternion\": [0.6801293530965565, 0.6801293530965569, -0.19345299960574158, -0.1934529996057418]}, \"12\": {\"position\": [-0.3569698929786682, -0.005488560535013676, 0.03657222166657448], \"quaternion\": [0.6546660657115299, 0.00023841511768676722, -0.0020745426910234732, -0.7559153271608144]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Solder_Mask.mdl\", \"name\": \"PCB_Solder_Mask_Black_Fast\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2819025111628588, -0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2819025111628588, 0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Solder_Mask.mdl\", \"name\": \"PCB_Solder_Mask_Black_Fast\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Fine_Woven.mdl\", \"name\": \"Fabric_Cotton_Fine_Woven_Petrol\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4967937775427631, \"metallic_constant\": 0.796337595983724, \"specular_level\": 0.8197233501839334}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.11829978010170572, \"metallic_constant\": 0.5767480805699364, \"specular_level\": 0.706574979318515}, {\"reflection_roughness_constant\": 0.1424484029689358, \"metallic_constant\": 0.6836950866359524, \"specular_level\": 0.2636910370808203}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Solder_Mask.mdl\", \"name\": \"PCB_Solder_Mask_Black_Fast\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.11829978010170572, \"metallic_constant\": 0.5767480805699364, \"specular_level\": 0.706574979318515}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8903934773350952, 0.000999105359583615, -0.0018336732603365176, -0.45518687914962175]}, \"material\": {\"reflection_roughness_constant\": 0.1424484029689358, \"metallic_constant\": 0.6836950866359524, \"specular_level\": 0.2636910370808203}}, \"distractor_0\": {\"uid\": \"6\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"6\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/006_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16956109216702725, 0.339954938671184, 0.025782274182429385], \"quaternion\": [0.9999997265710481, -0.0005242914188096242, -0.000521458515215252, -7.573288419067393e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2819025111628588, -0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2819025111628588, -0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2819025111628588, 0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2819025111628588, 0.7861802772118149, 0.0]}, \"light_radius\": 0.08416049433652094, \"light_length\": 1.924573573303145, \"light_intensity\": 50000.0, \"light_color_temperature\": 6240.211114181264, \"center_light_postion\": [0.6915631642150972, -0.10708164198016379, 1.419675859213462], \"center_light_orientation\": [0.933039725916508, 0.0, 0.0, -0.3597733590215479]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Solder_Mask.mdl\", \"name\": \"PCB_Solder_Mask_Black_Fast\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750015, \"blink_pad\": 1, \"appearance_seed\": 16750015, \"blink_offset_steps\": 61, \"source_episode\": \"blinkpad1-9750015\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750018, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1507, 0.5886], \"2\": [-0.1294, 0.4273], \"3\": [-0.1783, 0.2721]}, \"randplace\": [0.0017, 0.0521, 4.4397], \"handover_result\": null}}"}
+{"episode_index": 6, "tasks": [0], "length": 1, "dataset_from_index": 6, "dataset_to_index": 6, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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\"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750024, \"blink_pad\": 1, \"appearance_seed\": 16750024, \"blink_offset_steps\": 76, \"source_episode\": \"blinkpad1-9750024\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750027, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1331, 0.5863], \"2\": [-0.1119, 0.425], \"3\": [-0.1607, 0.2698]}, \"randplace\": [0.0193, 0.0498, 0.4789], \"handover_result\": null}}"}
+{"episode_index": 7, "tasks": [0], "length": 1, "dataset_from_index": 7, "dataset_to_index": 7, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7442395145408089, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6394081115722656, 0.4499259293079376, 0.012000000104308128], \"quaternion\": [0.039469295516307956, 0.03946929551630801, -0.7060043730115602, -0.7060043730115603]}, \"12\": {\"position\": [-0.36475467681884766, 0.05601669102907181, 0.03657222166657448], \"quaternion\": [0.5943848116787018, 7.762461270297111e-05, -0.0020867543134552857, -0.8041780493625328]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Fritted.mdl\", \"name\": \"Glass_Clear_Medium_Frit\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.304911579656083, -0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.304911579656083, -0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.304911579656083, 0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.304911579656083, 0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Fritted.mdl\", \"name\": \"Glass_Clear_Medium_Frit\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Opaque.mdl\", \"name\": \"Polypropylene_Opaque\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.42734668053859615, \"metallic_constant\": 0.9435407773524731, \"specular_level\": 0.6699637915729633}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5268613970132969, \"metallic_constant\": 0.6021695639920907, \"specular_level\": 0.9276071919835721}, {\"reflection_roughness_constant\": 0.5497923216741049, \"metallic_constant\": 0.6302136852759821, \"specular_level\": 0.4473207297069689}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Fritted.mdl\", \"name\": \"Glass_Clear_Medium_Frit\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.5268613970132969, \"metallic_constant\": 0.6021695639920907, \"specular_level\": 0.9276071919835721}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.904576257056238, 0.0010575786651831408, -0.0018005822703146073, -0.4263067376912804]}, \"material\": {\"reflection_roughness_constant\": 0.5497923216741049, \"metallic_constant\": 0.6302136852759821, \"specular_level\": 0.4473207297069689}}, \"distractor_0\": {\"uid\": \"20\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"20\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/020_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17432729094083413, 0.4300388963639209, 0.021505665171820256], \"quaternion\": [0.48345669474166975, 0.7266983158646539, 0.14033184369464086, 0.4674250267948856]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"36\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"36\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/036_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2987645753361207, 0.563019969192225, 0.02357494652633171], \"quaternion\": [0.9927169326793728, 0.053684131630134746, -0.060643713479939985, -0.08918209236242093]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.298466293178228, -0.3769312309429138, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.304911579656083, -0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.304911579656083, -0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.304911579656083, 0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.304911579656083, 0.7136207104501011, 0.0]}, \"light_radius\": 0.08573734716935018, \"light_length\": 1.3683709715832113, \"light_intensity\": 50000.0, \"light_color_temperature\": 7642.520589964836, \"center_light_postion\": [-0.05374923595753445, -0.44265581482924143, 1.4300745397168084], \"center_light_orientation\": [0.9529126468633662, 0.0, 0.0, -0.3032449297974386]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Fritted.mdl\", \"name\": \"Glass_Clear_Medium_Frit\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750030, \"blink_pad\": 1, \"appearance_seed\": 16750030, \"blink_offset_steps\": 53, \"source_episode\": \"blinkpad1-9750030\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750033, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1432, 0.5878], \"2\": [-0.1219, 0.4265], \"3\": [-0.1708, 0.2713]}, \"randplace\": [0.0092, 0.0513, 8.1268], \"handover_result\": null}}"}
+{"episode_index": 8, "tasks": [0], "length": 1, "dataset_from_index": 8, "dataset_to_index": 8, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7299801246302042, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.609957456588745, 0.44074344635009766, 0.012000000104308128], \"quaternion\": [0.4894341085642845, 0.4894341085642844, 0.5103471890525942, 0.5103471890525941]}, \"12\": {\"position\": [-0.3858053684234619, -0.049048151820898056, 0.03657222166657448], \"quaternion\": [0.601804109356709, 9.693964873174911e-05, -0.002085946272013306, -0.7986410040764456]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Rough.mdl\", \"name\": \"Concrete_Rough_Dirty\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0921949713424841, -0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0921949713424841, -0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0921949713424841, 0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, \"Light_1_1\": {\"uid\": 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[-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7992429068712869, \"metallic_constant\": 0.5343600477489936, \"specular_level\": 0.7118515932565882}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8780805569095442, 0.0009504039227104654, -0.0018593820287714999, -0.47850828102372467]}, \"material\": {\"reflection_roughness_constant\": 0.31576148207915555, \"metallic_constant\": 0.7160515708212455, \"specular_level\": 0.12498762544472508}}, \"distractor_0\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2702064602918318, 0.48411177449910126, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1433633450658262, 0.1074662402609996, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"24\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"24\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/024_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22167727142261, -0.3936794054717967, 0.04193076079166724], \"quaternion\": [0.8952658524852201, 0.4400553568540693, -0.048554449326103505, -0.04992796539604567]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0921949713424841, -0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0921949713424841, -0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0921949713424841, 0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0921949713424841, 0.526047316917371, 0.0]}, \"light_radius\": 0.1133778621838924, \"light_length\": 0.688448348717243, \"light_intensity\": 50000.0, \"light_color_temperature\": 7411.5395390829935, \"center_light_postion\": [-0.48690488032499635, -0.3530691645397449, 1.4997458346327321], \"center_light_orientation\": [0.8418539031734319, 0.0, 0.0, -0.5397054805277207]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Rough.mdl\", \"name\": \"Concrete_Rough_Dirty\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750033, \"blink_pad\": 1, \"appearance_seed\": 16750033, \"blink_offset_steps\": 31, \"source_episode\": \"blinkpad1-9750033\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750036, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1581, 0.5086], \"2\": [-0.1368, 0.3473], \"3\": [-0.1857, 0.1921]}, \"randplace\": [-0.0057, -0.0279, 1.4176], \"handover_result\": null}}"}
+{"episode_index": 9, "tasks": [0], "length": 1, "dataset_from_index": 9, "dataset_to_index": 9, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7317284798824016, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6636972427368164, 0.41644397377967834, 0.012000000104308128], \"quaternion\": [0.6164533362224868, 0.6164533362224869, -0.3463889205216667, -0.34638892052166687]}, \"12\": {\"position\": [-0.3552361726760864, 0.05014625936746597, 0.03657222166657448], \"quaternion\": [0.5865936920270576, 5.747576334315584e-05, -0.002087406448646356, -0.8098786822141452]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"White_to_Purple\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.54421094939627, -0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, 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\"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.54421094939627, 0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"White_to_Purple\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Aluminized_Coated\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6408944056691479, \"metallic_constant\": 0.9376312070669315, \"specular_level\": 0.9518252643309385}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.10321511502934799, \"metallic_constant\": 0.5405909928358413, \"specular_level\": 0.11301683213818625}, {\"reflection_roughness_constant\": 0.28669770572622466, \"metallic_constant\": 0.5388576521112566, \"specular_level\": 0.3121222384162755}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"White_to_Purple\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.10321511502934799, \"metallic_constant\": 0.5405909928358413, \"specular_level\": 0.11301683213818625}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8464136446929594, 0.0008321781409809571, -0.0019152150497777887, -0.5325219070690292]}, \"material\": {\"reflection_roughness_constant\": 0.28669770572622466, \"metallic_constant\": 0.5388576521112566, \"specular_level\": 0.3121222384162755}}, \"distractor_0\": {\"uid\": \"21\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"21\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/021_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1389512571844763, 0.47171713756387945, 0.028265690629526222], \"quaternion\": [0.9999801632573285, -0.004548559188123117, 0.004357028933328114, 1.804832905633172e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.54421094939627, -0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.54421094939627, -0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.54421094939627, 0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.54421094939627, 0.5786670297369939, 0.0]}, \"light_radius\": 0.08935873348958677, \"light_length\": 1.3998519186275538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.337692414597, \"center_light_postion\": [0.8813819799008089, -0.596640408941677, 1.407298876611932], \"center_light_orientation\": [0.9021332148165453, 0.0, 0.0, -0.431457602464906]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"White_to_Purple\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750036, \"blink_pad\": 1, \"appearance_seed\": 16750036, \"blink_offset_steps\": 37, \"source_episode\": \"blinkpad1-9750036\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750039, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1637, 0.6026], \"2\": [-0.1425, 0.4413], \"3\": [-0.1913, 0.286]}, \"randplace\": [-0.0113, 0.066, -5.7584], \"handover_result\": null}}"}
+{"episode_index": 10, "tasks": [0], "length": 1, "dataset_from_index": 10, "dataset_to_index": 10, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7148174123519947, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.615321636199951, 0.37162813544273376, 0.012000000104308128], \"quaternion\": [0.7002255635186345, 0.7002255635186347, -0.09840813073628896, -0.09840813073628885]}, \"12\": {\"position\": [-0.3883029520511627, -0.0163290873169899, 0.03657222166657448], \"quaternion\": [0.5542045628911071, -2.4873963551463282e-05, -0.0020880494321637855, -0.8323778840776173]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Sheet.mdl\", \"name\": \"Gold_Sheet_Soft_Splotches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.493514789782635, -0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.493514789782635, -0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.493514789782635, 0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.493514789782635, 0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Sheet.mdl\", \"name\": \"Gold_Sheet_Soft_Splotches\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Stainless_Steel.mdl\", \"name\": \"Stainless_Steel_Shiny_Smudged\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5990343125459218, \"metallic_constant\": 0.052392818233995886, \"specular_level\": 0.034255210066045816}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8024402898143992, \"metallic_constant\": 0.9188990655810686, \"specular_level\": 0.40932044519218524}, {\"reflection_roughness_constant\": 0.7597716968087336, \"metallic_constant\": 0.905388413762116, \"specular_level\": 0.40133840548960087}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Sheet.mdl\", \"name\": \"Gold_Sheet_Soft_Splotches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8024402898143992, \"metallic_constant\": 0.9188990655810686, \"specular_level\": 0.40932044519218524}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8460403734524119, 0.0008308362137514773, -0.0019157975705018965, -0.5331147399194274]}, \"material\": {\"reflection_roughness_constant\": 0.7597716968087336, \"metallic_constant\": 0.905388413762116, \"specular_level\": 0.40133840548960087}}, \"distractor_0\": {\"uid\": \"33\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"33\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/033_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1452699983875089, 0.4203999270828668, 0.0687980233730462], \"quaternion\": [0.9941293843629091, -0.09747153794406391, 0.046958537543351844, 0.0009809122444865183]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.493514789782635, -0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 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-0.19565863952845375]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.493514789782635, 0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.493514789782635, 0.7113691589421942, 0.0]}, \"light_radius\": 0.11601694356701156, \"light_length\": 0.6215127117606947, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.124172143531, \"center_light_postion\": [-0.950381019676541, 0.7566474653413389, 1.4546190928273866], \"center_light_orientation\": [0.9806720638306542, 0.0, 0.0, -0.19565863952845375]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Sheet.mdl\", \"name\": \"Gold_Sheet_Soft_Splotches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750001, \"blink_pad\": 2, \"appearance_seed\": 16750001, \"blink_offset_steps\": 43, \"source_episode\": \"blinkpad2-9750001\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750004, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1334, 0.5118], \"2\": [-0.1122, 0.3505], \"3\": [-0.161, 0.1953]}, \"randplace\": [0.019, -0.0247, -5.8387], \"handover_result\": null}}"}
+{"episode_index": 11, "tasks": [0], "length": 1, "dataset_from_index": 11, "dataset_to_index": 11, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6979978468097238, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6986358165740967, 0.4084812104701996, 0.012000000104308128], \"quaternion\": [0.2772943836903264, 0.27729438369032644, -0.6504673894775985, -0.6504673894775986]}, \"12\": {\"position\": [-0.3856244683265686, -0.04266775771975517, 0.03657222166657448], \"quaternion\": [0.6548762714738054, 0.00023899206905478334, -0.0020744763040709824, -0.7557332257426704]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Shiny_Coating\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4280270139406706, -1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4280270139406706, -1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4280270139406706, 1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4280270139406706, 1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Shiny_Coating\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square_Brick.mdl\", \"name\": \"Ceramic_Tiles_Square_Brick_Petrol\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.20603744769946164, \"metallic_constant\": 0.03849020507586032, \"specular_level\": 0.6077375731115374}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6391910975519102, \"metallic_constant\": 0.5635827098714272, \"specular_level\": 0.589856974571235}, {\"reflection_roughness_constant\": 0.06875870218707525, \"metallic_constant\": 0.5393512598162679, \"specular_level\": 0.26874136733702736}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Shiny_Coating\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.6391910975519102, \"metallic_constant\": 0.5635827098714272, \"specular_level\": 0.589856974571235}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8619678423912893, 0.0008891091212871273, -0.0018894586832386392, -0.5069586552315295]}, \"material\": {\"reflection_roughness_constant\": 0.06875870218707525, \"metallic_constant\": 0.5393512598162679, \"specular_level\": 0.26874136733702736}}, \"distractor_0\": {\"uid\": \"29\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"29\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/029_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1560634440961105, -0.337779793816525, 0.014405887336591617], \"quaternion\": [0.9998002630089692, -0.017903083041383404, 0.008838593184136349, 0.0008904916253278422]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"26\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"26\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/026_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2207676944209389, 0.4353748210011371, 0.028457621187623974], \"quaternion\": [0.9999881333419365, 0.004289425672257478, -0.0023095454076636998, -1.6496092834989288e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4280270139406706, -1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4280270139406706, -1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4280270139406706, 1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4280270139406706, 1.2331971384976765, 0.0]}, \"light_radius\": 0.11549949251884865, \"light_length\": 1.4353267415681636, \"light_intensity\": 50000.0, \"light_color_temperature\": 7674.516197262479, \"center_light_postion\": [-0.2513986408842709, 0.06476918382697061, 1.4546767217529826], \"center_light_orientation\": [0.9820755557611345, 0.0, 0.0, 0.1884876727440257]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Shiny_Coating\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750004, \"blink_pad\": 2, \"appearance_seed\": 16750004, \"blink_offset_steps\": 65, \"source_episode\": \"blinkpad2-9750004\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750007, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.161, 0.488], \"2\": [-0.1397, 0.3267], \"3\": [-0.1886, 0.1715]}, \"randplace\": [-0.0086, -0.0485, -2.3293], \"handover_result\": null}}"}
+{"episode_index": 12, "tasks": [0], "length": 1, "dataset_from_index": 12, "dataset_to_index": 12, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7372429762340731, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6842620372772217, 0.42168670892715454, 0.012000000104308128], \"quaternion\": [0.4285392702130298, 0.42853927021302973, -0.5624536370984585, -0.5624536370984582]}, \"12\": {\"position\": [-0.38517722487449646, -0.03907853737473488, 0.03657222166657448], \"quaternion\": [0.632273553923294, 0.00017762769804966232, -0.0020806291226711515, -0.7747424039253709]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paper/Cardboard.mdl\", \"name\": \"Cardboard\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5718724154660724, -0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5718724154660724, -0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5718724154660724, 0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5718724154660724, 0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paper/Cardboard.mdl\", \"name\": \"Cardboard\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Heavy_Glossy_Wrinkles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4192787116572021, \"metallic_constant\": 0.6998495228562136, \"specular_level\": 0.3614226067556252}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8413156903912582, \"metallic_constant\": 0.981499720020384, \"specular_level\": 0.25979984565930025}, {\"reflection_roughness_constant\": 0.29273267139776105, \"metallic_constant\": 0.8368822962276453, \"specular_level\": 0.7001979257206913}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paper/Cardboard.mdl\", \"name\": \"Cardboard\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8413156903912582, \"metallic_constant\": 0.981499720020384, \"specular_level\": 0.25979984565930025}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8786142190191918, 0.0009524791549001008, -0.0018583198338022035, -0.47752768879736257]}, \"material\": {\"reflection_roughness_constant\": 0.29273267139776105, \"metallic_constant\": 0.8368822962276453, \"specular_level\": 0.7001979257206913}}, \"distractor_0\": {\"uid\": \"9\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"9\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/009_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2921129091339957, 0.4669384574176675, 0.008996803228305851], \"quaternion\": [0.9999962622722316, -0.0025664956238932875, 0.0009363326035267081, -0.00010873378067945767]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"36\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"36\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/036_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12442573925495472, 0.5309407996235699, 0.02357494652633171], \"quaternion\": [0.9927169326793728, 0.053684131630134746, -0.060643713479939985, -0.08918209236242093]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5718724154660724, -0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5718724154660724, -0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5718724154660724, 0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5718724154660724, 0.572042080305085, 0.0]}, \"light_radius\": 0.08963054501675509, \"light_length\": 1.3256727897333267, \"light_intensity\": 50000.0, \"light_color_temperature\": 6223.799126285594, \"center_light_postion\": [-0.4826747974588065, -0.49764281429885626, 1.445245544984199], \"center_light_orientation\": [0.7210549531875775, 0.0, 0.0, 0.6928778784776293]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paper/Cardboard.mdl\", \"name\": \"Cardboard\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750007, \"blink_pad\": 2, \"appearance_seed\": 16750007, \"blink_offset_steps\": 35, \"source_episode\": \"blinkpad2-9750007\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750010, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1409, 0.5172], \"2\": [-0.1196, 0.3559], \"3\": [-0.1685, 0.2007]}, \"randplace\": [0.0115, -0.0193, 1.5455], \"handover_result\": null}}"}
+{"episode_index": 13, "tasks": [0], "length": 1, "dataset_from_index": 13, "dataset_to_index": 13, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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{\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0779189073828994, -0.6081371777454473, 0.0]}, \"light_radius\": 0.08973867966447822, \"light_length\": 1.0951076019542847, \"light_intensity\": 50000.0, \"light_color_temperature\": 7254.460623575517, \"center_light_postion\": [0.7216846418620437, -0.13627650043436346, 1.368014251367604], \"center_light_orientation\": [0.8661486353562559, 0.0, 0.0, 0.4997864958864893]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6081371777454473, 0.0]}, \"light_radius\": 0.08973867966447822, \"light_length\": 1.0951076019542847, \"light_intensity\": 50000.0, \"light_color_temperature\": 7254.460623575517, \"center_light_postion\": [0.7216846418620437, -0.13627650043436346, 1.368014251367604], \"center_light_orientation\": [0.8661486353562559, 0.0, 0.0, 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7254.460623575517, \"center_light_postion\": [0.7216846418620437, -0.13627650043436346, 1.368014251367604], \"center_light_orientation\": [0.8661486353562559, 0.0, 0.0, 0.4997864958864893]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0779189073828994, 0.6081371777454473, 0.0]}, \"light_radius\": 0.08973867966447822, \"light_length\": 1.0951076019542847, \"light_intensity\": 50000.0, \"light_color_temperature\": 7254.460623575517, \"center_light_postion\": [0.7216846418620437, -0.13627650043436346, 1.368014251367604], \"center_light_orientation\": [0.8661486353562559, 0.0, 0.0, 0.4997864958864893]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6081371777454473, 0.0]}, \"light_radius\": 0.08973867966447822, \"light_length\": 1.0951076019542847, \"light_intensity\": 50000.0, \"light_color_temperature\": 7254.460623575517, \"center_light_postion\": [0.7216846418620437, -0.13627650043436346, 1.368014251367604], \"center_light_orientation\": [0.8661486353562559, 0.0, 0.0, 0.4997864958864893]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0779189073828994, 0.6081371777454473, 0.0]}, \"light_radius\": 0.08973867966447822, \"light_length\": 1.0951076019542847, \"light_intensity\": 50000.0, \"light_color_temperature\": 7254.460623575517, \"center_light_postion\": [0.7216846418620437, -0.13627650043436346, 1.368014251367604], \"center_light_orientation\": [0.8661486353562559, 0.0, 0.0, 0.4997864958864893]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Cashmere\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750010, \"blink_pad\": 2, \"appearance_seed\": 16750010, \"blink_offset_steps\": 35, \"source_episode\": \"blinkpad2-9750010\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750013, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.155, 0.485], \"2\": [-0.1337, 0.3237], \"3\": [-0.1826, 0.1685]}, \"randplace\": [-0.0026, -0.0515, -6.0629], \"handover_result\": null}}"}
+{"episode_index": 14, "tasks": [0], "length": 1, "dataset_from_index": 14, "dataset_to_index": 14, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7011694216460748, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.670933246612549, 0.4256255030632019, 0.012000000104308128], \"quaternion\": [0.6089895431629245, 0.6089895431629249, -0.3593490452446093, -0.3593490452446093]}, \"12\": {\"position\": [-0.36513784527778625, -0.061566803604364395, 0.03657222166657448], \"quaternion\": [0.5421155180386202, -5.505193274011908e-05, -0.0020874717794314712, -0.8403013772049726]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Cashmere\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.014486797997051, -0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.014486797997051, -0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.014486797997051, 0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.014486797997051, 0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Cashmere\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Brushed.mdl\", \"name\": \"Gold_Brushed_Very_Strong_Brushing\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9930499382170773, \"metallic_constant\": 0.8197639983270425, \"specular_level\": 0.6755221492488455}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.081677844013754, \"metallic_constant\": 0.48866912339594704, \"specular_level\": 0.5885564171667848}, {\"reflection_roughness_constant\": 0.9214678888682306, \"metallic_constant\": 0.18543719618473165, \"specular_level\": 0.5667097600255119}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Cashmere\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.081677844013754, \"metallic_constant\": 0.48866912339594704, \"specular_level\": 0.5885564171667848}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8644235645773833, 0.0008982891999041214, -0.0018851115772169757, -0.502759923257797]}, \"material\": {\"reflection_roughness_constant\": 0.9214678888682306, \"metallic_constant\": 0.18543719618473165, \"specular_level\": 0.5667097600255119}}, \"distractor_0\": {\"uid\": \"21\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"21\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/021_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.18545342864306302, -0.39014256373985345, 0.028265690629526222], \"quaternion\": [0.9999801632573285, -0.004548559188123117, 0.004357028933328114, 1.804832905633172e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"9\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"9\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/009_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14463305427388515, 0.31228677488273604, 0.008996803228305851], \"quaternion\": 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[0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.014486797997051, 0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.014486797997051, 0.6733731185282321, 0.0]}, \"light_radius\": 0.09231845144583085, \"light_length\": 1.4738825020190962, \"light_intensity\": 50000.0, \"light_color_temperature\": 6328.1757488140975, \"center_light_postion\": [0.14398014991031927, 0.8364101477933639, 1.3390808218679782], \"center_light_orientation\": [0.9995190525126169, 0.0, 0.0, -0.03101070241514587]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Cashmere\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750013, \"blink_pad\": 2, \"appearance_seed\": 16750013, \"blink_offset_steps\": 95, \"source_episode\": \"blinkpad2-9750013\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750016, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1532, 0.5633], \"2\": [-0.1319, 0.4019], \"3\": [-0.1808, 0.2467]}, \"randplace\": [-0.0008, 0.0267, -1.7719], \"handover_result\": null}}"}
+{"episode_index": 15, "tasks": [0], "length": 1, "dataset_from_index": 15, "dataset_to_index": 15, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7542467255074959, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.603914976119995, 0.41215988993644714, 0.012000000104308128], \"quaternion\": [0.6726005035511431, 0.672600503551143, -0.21819386476880798, -0.21819386476880798]}, \"12\": {\"position\": [-0.36842283606529236, 0.05785844847559929, 0.03657222166657448], \"quaternion\": [0.5659391919344317, 4.704736322052031e-06, -0.0020881922829752986, -0.8244443404278162]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Glossy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9183530321252578, -0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9183530321252578, -0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9183530321252578, 0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9183530321252578, 0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Glossy_Streaks\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ground/Large_Granite_Paving.mdl\", \"name\": \"Large_Granite_Paving\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.003822140383863193, \"metallic_constant\": 0.5234439209385867, \"specular_level\": 0.6325111195519602}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.24672108623202726, \"metallic_constant\": 0.5616918627044013, \"specular_level\": 0.6701180570024908}, {\"reflection_roughness_constant\": 0.8906263250312436, \"metallic_constant\": 0.6129089223010553, \"specular_level\": 0.15476386481740234}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Glossy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.24672108623202726, \"metallic_constant\": 0.5616918627044013, \"specular_level\": 0.6701180570024908}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8771897589814168, 0.000946946721285787, -0.0018611450916755409, -0.4801393195406714]}, \"material\": {\"reflection_roughness_constant\": 0.8906263250312436, \"metallic_constant\": 0.6129089223010553, \"specular_level\": 0.15476386481740234}}, \"distractor_0\": {\"uid\": \"30\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"30\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/030_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.23473579901261304, 0.5884302734865906, 0.014795053255328856], \"quaternion\": [0.9912545197181606, 0.11674056842240056, -0.06010406254475442, 0.01317643686088467]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"31\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"31\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/031_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1811940906653064, 0.3269428133765041, 0.012359121891783485], \"quaternion\": [0.9990193734695209, -0.044233924007068985, -0.00042171372199921247, 0.0018637481157870361]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"26\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"26\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/026_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.24985867986452187, -0.3847607632515345, 0.028457621187623974], \"quaternion\": [0.9999881333419365, 0.004289425672257478, -0.0023095454076636998, -1.6496092834989288e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9183530321252578, -0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9183530321252578, -0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9183530321252578, 0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9183530321252578, 0.7226903525996685, 0.0]}, \"light_radius\": 0.11764179560484103, \"light_length\": 1.3291299644457273, \"light_intensity\": 50000.0, \"light_color_temperature\": 7371.842747594395, \"center_light_postion\": [1.0139442247445025, 0.5137786115060026, 1.416995823922121], \"center_light_orientation\": [0.7905548748932458, 0.0, 0.0, -0.6123912064869355]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Glossy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750016, \"blink_pad\": 2, \"appearance_seed\": 16750016, \"blink_offset_steps\": 58, \"source_episode\": \"blinkpad2-9750016\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750019, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1593, 0.5457], \"2\": [-0.138, 0.3844], \"3\": [-0.1869, 0.2292]}, \"randplace\": [-0.0069, 0.0092, 1.2046], \"handover_result\": null}}"}
+{"episode_index": 16, "tasks": [0], "length": 1, "dataset_from_index": 16, "dataset_to_index": 16, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7298578865063295, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6439285278320312, 0.3717617988586426, 0.012000000104308128], \"quaternion\": [0.5140668064475206, 0.5140668064475209, -0.48552581652147697, -0.4855258165214771]}, \"12\": {\"position\": [-0.3727119266986847, 0.035852279514074326, 0.03657222166657448], \"quaternion\": [0.5486774535420684, -3.870785283159192e-05, -0.00208783879821961, -0.8360315134045166]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Hammered.mdl\", \"name\": \"Silver_Hammered\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8507385779724248, -0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8507385779724248, -0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8507385779724248, 0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8507385779724248, 0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Hammered.mdl\", \"name\": \"Silver_Hammered\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/Pull_Up_Leather.mdl\", \"name\": \"Pull_Up_Leather_Cognac\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4966392665783417, \"metallic_constant\": 0.3791119399648407, \"specular_level\": 0.8757461716052715}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.21168820793366494, \"metallic_constant\": 0.5530007773003168, \"specular_level\": 0.5906388384231743}, {\"reflection_roughness_constant\": 0.9963019960383578, \"metallic_constant\": 0.9634418943908658, \"specular_level\": 0.4996717981362815}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Hammered.mdl\", \"name\": \"Silver_Hammered\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.21168820793366494, \"metallic_constant\": 0.5530007773003168, \"specular_level\": 0.5906388384231743}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8441668750372265, 0.000824117190371528, -0.0019186974753087047, -0.5360764185456572]}, \"material\": {\"reflection_roughness_constant\": 0.9963019960383578, \"metallic_constant\": 0.9634418943908658, \"specular_level\": 0.4996717981362815}}, \"distractor_0\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15981481892557373, 0.5894569419711672, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"31\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"31\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/031_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.29030380311110726, 0.4855762974099862, 0.012359121891783485], \"quaternion\": [0.9990193734695209, -0.044233924007068985, -0.00042171372199921247, 0.0018637481157870361]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8507385779724248, -0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8507385779724248, -0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8507385779724248, 0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8507385779724248, 0.9001011926763558, 0.0]}, \"light_radius\": 0.10246199652284631, \"light_length\": 1.5879429628527437, \"light_intensity\": 50000.0, \"light_color_temperature\": 6910.342923303461, \"center_light_postion\": [0.0400107884965637, 0.9262510547858067, 1.435128778286384], \"center_light_orientation\": [0.8466637699727333, 0.0, 0.0, -0.5321282370026595]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Hammered.mdl\", \"name\": \"Silver_Hammered\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750019, \"blink_pad\": 2, \"appearance_seed\": 16750019, \"blink_offset_steps\": 31, \"source_episode\": \"blinkpad2-9750019\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750022, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1625, 0.612], \"2\": [-0.1412, 0.4507], \"3\": [-0.1901, 0.2955]}, \"randplace\": [-0.0101, 0.0755, -6.2403], \"handover_result\": null}}"}
+{"episode_index": 17, "tasks": [0], "length": 1, "dataset_from_index": 17, "dataset_to_index": 17, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7682513197152901, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6245903968811035, 0.361087828874588, 0.012000000104308128], \"quaternion\": [0.6058471764469759, 0.6058471764469758, 0.36462199438764886, 0.36462199438764886]}, \"12\": {\"position\": [-0.3552345037460327, 0.041146595031023026, 0.03657222166657448], \"quaternion\": [0.5487509866371486, -3.852421166153489e-05, -0.002087842194788303, -0.8359832498893809]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Prepreg.mdl\", \"name\": \"PCB_Prepreg\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.186308591541931, -1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.186308591541931, -1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.186308591541931, 1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.186308591541931, 1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Prepreg.mdl\", \"name\": \"PCB_Prepreg\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Candy.mdl\", \"name\": \"Orange_Murdered_Candy_Coat\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6632113360247853, \"metallic_constant\": 0.50561664209881, \"specular_level\": 0.4287944371484277}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9404831043425765, \"metallic_constant\": 0.8680862824880179, \"specular_level\": 0.3672285592765637}, {\"reflection_roughness_constant\": 0.22238283751310117, \"metallic_constant\": 0.13453929906130757, \"specular_level\": 0.43487286816735804}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Prepreg.mdl\", \"name\": \"PCB_Prepreg\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9404831043425765, \"metallic_constant\": 0.8680862824880179, \"specular_level\": 0.3672285592765637}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8795896276215395, 0.0009562801653501296, -0.0018563667176987922, -0.4757286268572206]}, \"material\": {\"reflection_roughness_constant\": 0.22238283751310117, \"metallic_constant\": 0.13453929906130757, \"specular_level\": 0.43487286816735804}}, \"distractor_0\": {\"uid\": \"18\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"18\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/018_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.21211245643497778, 0.3392593425938467, 0.005888946561435833], \"quaternion\": [0.6893262685248722, -0.08608386766212113, -0.7115336943090719, -0.10553987451570405]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"31\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"31\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/031_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.24042577357577105, 0.563326947370882, 0.012359121891783485], \"quaternion\": [0.9990193734695209, -0.044233924007068985, -0.00042171372199921247, 0.0018637481157870361]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.186308591541931, -1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.186308591541931, -1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.186308591541931, 1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.186308591541931, 1.2259665818967127, 0.0]}, \"light_radius\": 0.099396770678182, \"light_length\": 0.8210240923182366, \"light_intensity\": 50000.0, \"light_color_temperature\": 7844.604385052957, \"center_light_postion\": [-0.5872824463289117, 0.14093065785027847, 1.304567199481341], \"center_light_orientation\": [0.7995474041416509, 0.0, 0.0, 0.6006029874470719]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/PCB_Prepreg.mdl\", \"name\": \"PCB_Prepreg\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750022, \"blink_pad\": 2, \"appearance_seed\": 16750022, \"blink_offset_steps\": 35, \"source_episode\": \"blinkpad2-9750022\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750025, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1273, 0.4734], \"2\": [-0.106, 0.312], \"3\": [-0.1549, 0.1568]}, \"randplace\": [0.0251, -0.0632, 1.78], \"handover_result\": null}}"}
+{"episode_index": 18, "tasks": [0], "length": 1, "dataset_from_index": 18, "dataset_to_index": 18, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7035699278727356, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6679763793945312, 0.42734286189079285, 0.012000000104308128], \"quaternion\": [0.6459906291685539, 0.6459906291685535, -0.2875693082135433, -0.28756930821354343]}, \"12\": {\"position\": [-0.37574517726898193, 0.07971290498971939, 0.03657222166657448], \"quaternion\": [0.5441633193842582, -4.9960627532214183e-05, -0.0020875998373534044, -0.8389767108016529]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polyethylene_Opaque.mdl\", \"name\": \"Polyethylene_Dark_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.369643628988828, -1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.369643628988828, -1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.369643628988828, 1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.369643628988828, 1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Polyethylene_Opaque.mdl\", \"name\": \"Polyethylene_Dark_Blue\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square_Brick.mdl\", \"name\": \"Ceramic_Tiles_Square_Brick_Black_Matte_Rough\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8200757131103653, \"metallic_constant\": 0.23249187555744177, \"specular_level\": 0.10788592708148714}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7889374592766394, \"metallic_constant\": 0.044968199911362916, \"specular_level\": 0.11343503858413218}, {\"reflection_roughness_constant\": 0.4326315986209325, \"metallic_constant\": 0.4436352130425416, \"specular_level\": 0.2900549912614032}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polyethylene_Opaque.mdl\", \"name\": \"Polyethylene_Dark_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7889374592766394, \"metallic_constant\": 0.044968199911362916, \"specular_level\": 0.11343503858413218}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.904762127412351, 0.0010583639845335837, -0.0018001207796878673, -0.42591211796699585]}, \"material\": {\"reflection_roughness_constant\": 0.4326315986209325, \"metallic_constant\": 0.4436352130425416, \"specular_level\": 0.2900549912614032}}, \"distractor_0\": {\"uid\": \"6\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"6\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/006_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1543045840454773, 0.48473587588497824, 0.025782274182429385], \"quaternion\": [0.9999997265710481, -0.0005242914188096242, -0.000521458515215252, -7.573288419067393e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"21\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"21\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/021_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1988934085035881, -0.3973553512882376, 0.028265690629526222], \"quaternion\": [0.9999801632573285, -0.004548559188123117, 0.004357028933328114, 1.804832905633172e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2661292409587108, 0.5542399457203998, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.369643628988828, -1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.369643628988828, -1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.369643628988828, 1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.369643628988828, 1.0112913714409788, 0.0]}, \"light_radius\": 0.08634764730664513, \"light_length\": 1.3721274162677757, \"light_intensity\": 50000.0, \"light_color_temperature\": 6507.3055997969595, \"center_light_postion\": [0.9812388436629864, -0.9382812264759298, 1.3154076231525789], \"center_light_orientation\": [0.9895381491302075, 0.0, 0.0, 0.14427145045352208]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polyethylene_Opaque.mdl\", \"name\": \"Polyethylene_Dark_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750025, \"blink_pad\": 2, \"appearance_seed\": 16750025, \"blink_offset_steps\": 37, \"source_episode\": \"blinkpad2-9750025\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750028, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1652, 0.5463], \"2\": [-0.144, 0.3849], \"3\": [-0.1928, 0.2297]}, \"randplace\": [-0.0128, 0.0097, 8.1768], \"handover_result\": null}}"}
+{"episode_index": 19, "tasks": [0], "length": 1, "dataset_from_index": 19, "dataset_to_index": 19, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7045222335434166, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6425938606262207, 0.4070148169994354, 0.012000000104308128], \"quaternion\": [0.7066951357430877, 0.7066951357430878, 0.024124367702770377, 0.024124367702770468]}, \"12\": {\"position\": [-0.3613991439342499, 0.05676380172371864, 0.03657222166657448], \"quaternion\": [0.5717675988787733, 1.95030830251894e-05, -0.0020881065047013703, -0.8204129766789755]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Pique_Weave.mdl\", \"name\": \"Fabric_Cotton_Pique_Weave_Burnt_Coral\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.028512570258786, -0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.028512570258786, -0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.028512570258786, 0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.028512570258786, 0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Pique_Weave.mdl\", \"name\": \"Fabric_Cotton_Pique_Weave_Burnt_Coral\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6632431727151398, \"metallic_constant\": 0.3459997358169298, \"specular_level\": 0.5400091805607669}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.07593997791399809, \"metallic_constant\": 0.12116098325772917, \"specular_level\": 0.7401288740835553}, {\"reflection_roughness_constant\": 0.084927671221676, \"metallic_constant\": 0.7125690537492074, \"specular_level\": 0.2583404690256885}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Pique_Weave.mdl\", \"name\": \"Fabric_Cotton_Pique_Weave_Burnt_Coral\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.07593997791399809, \"metallic_constant\": 0.12116098325772917, \"specular_level\": 0.7401288740835553}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8719561830015812, 0.0009268029290790504, -0.001871257725668047, -0.4895794668449323]}, \"material\": {\"reflection_roughness_constant\": 0.084927671221676, \"metallic_constant\": 0.7125690537492074, \"specular_level\": 0.2583404690256885}}, \"distractor_0\": {\"uid\": \"29\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"29\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/029_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.24001929428487034, 0.3618961683983688, 0.014405887336591617], \"quaternion\": [0.9998002630089692, -0.017903083041383404, 0.008838593184136349, 0.0008904916253278422]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.028512570258786, -0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.028512570258786, -0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.028512570258786, 0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.028512570258786, 0.9279816201400187, 0.0]}, \"light_radius\": 0.11903112670611937, \"light_length\": 1.9877403427338247, \"light_intensity\": 50000.0, \"light_color_temperature\": 6119.804929900376, \"center_light_postion\": [0.20843688229050472, -0.854713617494782, 1.344383004958396], \"center_light_orientation\": [0.8800350897476912, 0.0, 0.0, -0.47490866575876794]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Pique_Weave.mdl\", \"name\": \"Fabric_Cotton_Pique_Weave_Burnt_Coral\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750028, \"blink_pad\": 2, \"appearance_seed\": 16750028, \"blink_offset_steps\": 109, \"source_episode\": \"blinkpad2-9750028\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750031, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1348, 0.6057], \"2\": [-0.1135, 0.4444], \"3\": [-0.1624, 0.2892]}, \"randplace\": [0.0176, 0.0692, -0.0323], \"handover_result\": null}}"}
+{"episode_index": 20, "tasks": [0], "length": 1, "dataset_from_index": 20, "dataset_to_index": 20, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7445540050389711, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6976499557495117, 0.38243353366851807, 0.012000000104308128], \"quaternion\": [0.6264247478190874, 0.6264247478190876, 0.3280122487343916, 0.3280122487343918]}, \"12\": {\"position\": [-0.37465500831604004, -0.01697426289319992, 0.03657222166657448], \"quaternion\": [0.5795479413875388, 3.937052374154503e-05, -0.0020878264073150854, -0.81493547171805]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Gun_Metal.mdl\", \"name\": \"Paint_Gun_Metal_Black_75\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2981402069529115, -1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2981402069529115, -1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2981402069529115, 1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2981402069529115, 1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Gun_Metal.mdl\", \"name\": \"Paint_Gun_Metal_Black_75\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plaster/Stucco.mdl\", \"name\": \"Stucco_Shiny_Rough\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4032759689135835, \"metallic_constant\": 0.9088723273022814, \"specular_level\": 0.9576559336284887}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2279560442378763, \"metallic_constant\": 0.22610842661234498, \"specular_level\": 0.2177484246342445}, {\"reflection_roughness_constant\": 0.4092903034141946, \"metallic_constant\": 0.264979161484696, \"specular_level\": 0.8735092861834516}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Gun_Metal.mdl\", \"name\": \"Paint_Gun_Metal_Black_75\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.2279560442378763, \"metallic_constant\": 0.22610842661234498, \"specular_level\": 0.2177484246342445}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8373185327937265, 0.0007997817371618354, -0.0019289682003921828, -0.5467113626686539]}, \"material\": {\"reflection_roughness_constant\": 0.4092903034141946, \"metallic_constant\": 0.264979161484696, \"specular_level\": 0.8735092861834516}}, \"distractor_0\": {\"uid\": \"10\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"10\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/010_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12555282883188618, 0.33664227374080813, 0.039032810724311376], \"quaternion\": [0.9949469449625798, -0.05185164954558676, -0.08585456333235898, -0.004580076859636752]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2981402069529115, -1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2981402069529115, -1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2981402069529115, 1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2981402069529115, 1.0401162540358022, 0.0]}, \"light_radius\": 0.10521161072556143, \"light_length\": 1.5075951057575483, \"light_intensity\": 50000.0, \"light_color_temperature\": 6949.0167017105505, \"center_light_postion\": [0.5262125271493507, -0.6715084460647844, 1.4305276915938931], \"center_light_orientation\": [0.8144072648821343, 0.0, 0.0, 0.5802937246836305]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Gun_Metal.mdl\", \"name\": \"Paint_Gun_Metal_Black_75\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750002, \"blink_pad\": 3, \"appearance_seed\": 16750002, \"blink_offset_steps\": 59, \"source_episode\": \"blinkpad3-9750002\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750005, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1365, 0.5689], \"2\": [-0.1152, 0.4076], \"3\": [-0.1641, 0.2524]}, \"randplace\": [0.0159, 0.0324, -7.6898], \"handover_result\": null}}"}
+{"episode_index": 21, "tasks": [0], "length": 1, "dataset_from_index": 21, "dataset_to_index": 21, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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\"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.6105794858645954, \"metallic_constant\": 0.03180106016252249, \"specular_level\": 0.9924988007086517}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8706511118570018, 0.000921823228570774, -0.0018737158483850252, -0.4918966160211125]}, \"material\": 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7374.277495613073, \"center_light_postion\": [0.6725661018995033, -0.7374406733308295, 1.445279019260627], \"center_light_orientation\": [0.9020858312356698, 0.0, 0.0, 0.4315566626572352]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3809657533929207, 1.0451770764325516, 0.0]}, \"light_radius\": 0.10100326847046351, \"light_length\": 0.9757611628639219, \"light_intensity\": 50000.0, \"light_color_temperature\": 7374.277495613073, \"center_light_postion\": [0.6725661018995033, -0.7374406733308295, 1.445279019260627], \"center_light_orientation\": [0.9020858312356698, 0.0, 0.0, 0.4315566626572352]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0451770764325516, 0.0]}, \"light_radius\": 0.10100326847046351, \"light_length\": 0.9757611628639219, \"light_intensity\": 50000.0, \"light_color_temperature\": 7374.277495613073, \"center_light_postion\": [0.6725661018995033, -0.7374406733308295, 1.445279019260627], \"center_light_orientation\": [0.9020858312356698, 0.0, 0.0, 0.4315566626572352]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3809657533929207, 1.0451770764325516, 0.0]}, \"light_radius\": 0.10100326847046351, \"light_length\": 0.9757611628639219, \"light_intensity\": 50000.0, \"light_color_temperature\": 7374.277495613073, \"center_light_postion\": [0.6725661018995033, -0.7374406733308295, 1.445279019260627], \"center_light_orientation\": [0.9020858312356698, 0.0, 0.0, 0.4315566626572352]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Cloudy.mdl\", \"name\": \"Polypropylene_Cloudy_Soft\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750005, \"blink_pad\": 3, \"appearance_seed\": 16750005, \"blink_offset_steps\": 104, \"source_episode\": \"blinkpad3-9750005\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750008, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1589, 0.5572], \"2\": [-0.1376, 0.3959], \"3\": [-0.1865, 0.2407]}, \"randplace\": [-0.0065, 0.0207, -0.337], \"handover_result\": null}}"}
+{"episode_index": 22, "tasks": [0], "length": 1, "dataset_from_index": 22, "dataset_to_index": 22, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7552222604268747, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.684079170227051, 0.43282949924468994, 0.012000000104308128], \"quaternion\": [0.24563005536850413, 0.24563005536850424, 0.6630730547229807, 0.6630730547229812]}, \"12\": {\"position\": [-0.3642480671405792, -0.061394575983285904, 0.03657222166657448], \"quaternion\": [0.5524436340177, -2.9288153826357283e-05, -0.0020879921813232727, -0.8335476415083736]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched_Dark_Matte\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.3534106898015477, -0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, -0.3992323089106856]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, -0.3992323089106856]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.3534106898015477, 0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, -0.3992323089106856]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched_Dark_Matte\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Antique_Brushed.mdl\", \"name\": \"Copper_Antique_Brushed_Shiny\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6083913340710129, \"metallic_constant\": 0.9460497495836204, \"specular_level\": 0.995916035673485}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.059669744993947726, \"metallic_constant\": 0.42738084962759026, \"specular_level\": 0.4849604680540438}, {\"reflection_roughness_constant\": 0.4502447659529272, \"metallic_constant\": 0.35923318307534746, \"specular_level\": 0.46823293670663513}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched_Dark_Matte\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.059669744993947726, \"metallic_constant\": 0.42738084962759026, \"specular_level\": 0.4849604680540438}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9026149327210684, 0.0010493236239157578, -0.001805405516086112, -0.43044386702541854]}, \"material\": {\"reflection_roughness_constant\": 0.4502447659529272, \"metallic_constant\": 0.35923318307534746, \"specular_level\": 0.46823293670663513}}, \"distractor_0\": {\"uid\": \"23\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"23\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/023_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.21180716595786084, 0.48638503138757316, 0.033275923321799954], \"quaternion\": [0.9996271452011355, 0.023150253503286082, -0.014474383013396321, -0.0003585751546958033]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.3534106898015477, -0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, 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-0.3992323089106856]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.3534106898015477, 0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, -0.3992323089106856]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, -0.3992323089106856]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.3534106898015477, 0.9135898462211133, 0.0]}, \"light_radius\": 0.09705999448620346, \"light_length\": 0.8676406630008411, \"light_intensity\": 50000.0, \"light_color_temperature\": 7572.253024187612, \"center_light_postion\": [1.0760863570378927, -0.3977608762754149, 1.4237245795181024], \"center_light_orientation\": [0.916849804232865, 0.0, 0.0, -0.3992323089106856]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched_Dark_Matte\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750008, \"blink_pad\": 3, \"appearance_seed\": 16750008, \"blink_offset_steps\": 90, \"source_episode\": \"blinkpad3-9750008\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750011, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1384, 0.5685], \"2\": [-0.1171, 0.4071], \"3\": [-0.166, 0.2519]}, \"randplace\": [0.014, 0.0319, 7.6022], \"handover_result\": null}}"}
+{"episode_index": 23, "tasks": [0], "length": 1, "dataset_from_index": 23, "dataset_to_index": 23, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7141230191651098, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6881914138793945, 0.40955471992492676, 0.012000000104308128], \"quaternion\": [0.5060258781777329, 0.5060258781777328, 0.49390060803207614, 0.493900608032076]}, \"12\": {\"position\": [-0.3833736181259155, 0.05085986107587814, 0.03657222166657448], \"quaternion\": [0.6301656553631843, 0.00017197239255907428, -0.002081104188026539, -0.7764579101480932]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Sheet.mdl\", \"name\": \"Tungsten_Sheet_Soft_Splotches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7934168118026261, -1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7934168118026261, -1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7934168118026261, 1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7934168118026261, 1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Sheet.mdl\", \"name\": \"Tungsten_Sheet_Soft_Splotches\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Other/Food/Jelly.mdl\", \"name\": \"Jelly_Red_Strawberry\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.3980634832476052, \"metallic_constant\": 0.3430487564243039, \"specular_level\": 0.6706544097039693}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9007292094798776, \"metallic_constant\": 0.07890364607479583, \"specular_level\": 0.9800865743005506}, {\"reflection_roughness_constant\": 0.12318241819180686, \"metallic_constant\": 0.01795070768031226, \"specular_level\": 0.9479973644082509}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Sheet.mdl\", \"name\": \"Tungsten_Sheet_Soft_Splotches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9007292094798776, \"metallic_constant\": 0.07890364607479583, \"specular_level\": 0.9800865743005506}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8928511154315252, 0.0010090438224688763, -0.0018282231016917105, -0.4503471162376157]}, \"material\": {\"reflection_roughness_constant\": 0.12318241819180686, \"metallic_constant\": 0.01795070768031226, \"specular_level\": 0.9479973644082509}}, \"distractor_0\": {\"uid\": \"18\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"18\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/018_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22905994808229857, 0.4163830118594626, 0.005888946561435833], \"quaternion\": [0.6893262685248722, -0.08608386766212113, -0.7115336943090719, -0.10553987451570405]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7934168118026261, -1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7934168118026261, -1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7934168118026261, 1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7934168118026261, 1.1369693106512746, 0.0]}, \"light_radius\": 0.10976811360851824, \"light_length\": 2.0037965327624865, \"light_intensity\": 50000.0, \"light_color_temperature\": 6021.244844807003, \"center_light_postion\": [-0.14896786228510417, 1.071491642439994, 1.472726235237014], \"center_light_orientation\": [0.8693247952138358, 0.0, 0.0, 0.49424123707600776]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Sheet.mdl\", \"name\": \"Tungsten_Sheet_Soft_Splotches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750011, \"blink_pad\": 3, \"appearance_seed\": 16750011, \"blink_offset_steps\": 45, \"source_episode\": \"blinkpad3-9750011\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750014, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.176, 0.4903], \"2\": [-0.1548, 0.329], \"3\": [-0.2036, 0.1738]}, \"randplace\": [-0.0236, -0.0462, 5.0617], \"handover_result\": null}}"}
+{"episode_index": 24, "tasks": [0], "length": 1, "dataset_from_index": 24, "dataset_to_index": 24, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7080998553284942, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.627263307571411, 0.42806997895240784, 0.012000000104308128], \"quaternion\": [0.6873158894888663, 0.6873158894888661, 0.16612305094756874, 0.16612305094756882]}, \"12\": {\"position\": [-0.3806734085083008, -0.05691554397344589, 0.03657222166657448], \"quaternion\": [0.6286533962919424, 0.00016792202732229434, -0.0020814349228268636, -0.7776828060086333]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2750919761076993, -0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 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\"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2750919761076993, 0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Penny.mdl\", \"name\": \"Ceramic_Tiles_Penny_Lime_Green\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.1686376940264236, \"metallic_constant\": 0.48146583970617984, \"specular_level\": 0.12124661234378675}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.06390778336496117, \"metallic_constant\": 0.1683788426155255, \"specular_level\": 0.13262061355281973}, {\"reflection_roughness_constant\": 0.4372142926621947, \"metallic_constant\": 0.9303663313227408, \"specular_level\": 0.5078300865434731}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.06390778336496117, \"metallic_constant\": 0.1683788426155255, \"specular_level\": 0.13262061355281973}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8923915725330324, 0.0010071796272800985, -0.001829250760178544, -0.45125704504514585]}, \"material\": {\"reflection_roughness_constant\": 0.4372142926621947, \"metallic_constant\": 0.9303663313227408, \"specular_level\": 0.5078300865434731}}, \"distractor_0\": {\"uid\": \"31\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"31\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/031_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15404047250639047, 0.375456837889537, 0.012359121891783485], \"quaternion\": [0.9990193734695209, -0.044233924007068985, -0.00042171372199921247, 0.0018637481157870361]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"16\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"16\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/016_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.19773490886570794, 0.556759390378802, 0.036309913685165694], \"quaternion\": [0.9989478917937755, 0.024600813694765338, 0.03870198564373443, 0.0002564245680066577]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2750919761076993, -0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2750919761076993, -0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2750919761076993, 0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2750919761076993, 0.9743486720843604, 0.0]}, \"light_radius\": 0.11496926101472868, \"light_length\": 1.9222505190384052, \"light_intensity\": 50000.0, \"light_color_temperature\": 6968.498012005453, \"center_light_postion\": [-0.44854092839729776, 0.6750962821893713, 1.4066269949590724], \"center_light_orientation\": [0.9203796726074043, 0.0, 0.0, 0.391025904833794]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750014, \"blink_pad\": 3, \"appearance_seed\": 16750014, \"blink_offset_steps\": 54, \"source_episode\": \"blinkpad3-9750014\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750017, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1601, 0.6084], \"2\": [-0.1388, 0.447], \"3\": [-0.1877, 0.2918]}, \"randplace\": [-0.0077, 0.0718, 4.9449], \"handover_result\": null}}"}
+{"episode_index": 25, "tasks": [0], "length": 1, "dataset_from_index": 25, "dataset_to_index": 25, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7408217061930561, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.660752534866333, 0.38195639848709106, 0.012000000104308128], \"quaternion\": [0.01991201994931877, 0.019912019949318793, 0.7068263658505799, 0.70682636585058]}, \"12\": {\"position\": [-0.3662486970424652, 0.0019487958634272218, 0.03657222166657448], \"quaternion\": [0.5796466991638739, 3.962354714096273e-05, -0.00208782162066945, -0.8148652303168177]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Very_Strong_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.616813350764589, -0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.616813350764589, -0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.616813350764589, 0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.616813350764589, 0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Very_Strong_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_New_Stained\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.48171774415786794, \"metallic_constant\": 0.46961215261410005, \"specular_level\": 0.7091960240010438}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6938179833590115, \"metallic_constant\": 0.5756133473499485, \"specular_level\": 0.9251505866709601}, {\"reflection_roughness_constant\": 0.6409129952281023, \"metallic_constant\": 0.8298623934799813, \"specular_level\": 0.30912164047720037}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Very_Strong_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.6938179833590115, \"metallic_constant\": 0.5756133473499485, \"specular_level\": 0.9251505866709601}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8828766245350919, 0.0009691664061309771, -0.0018496717607318941, -0.46960036763228535]}, \"material\": {\"reflection_roughness_constant\": 0.6409129952281023, \"metallic_constant\": 0.8298623934799813, \"specular_level\": 0.30912164047720037}}, \"distractor_0\": {\"uid\": \"9\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"9\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/009_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.26496489891545505, 0.4912318165787972, 0.008996803228305851], \"quaternion\": [0.9999962622722316, -0.0025664956238932875, 0.0009363326035267081, -0.00010873378067945767]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"16\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"16\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/016_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.29891709999315097, 0.34397489305368556, 0.036309913685165694], \"quaternion\": [0.9989478917937755, 0.024600813694765338, 0.03870198564373443, 0.0002564245680066577]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14271206457694754, 0.44801383496144676, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.616813350764589, -0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.616813350764589, -0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.616813350764589, 0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.616813350764589, 0.7585213047776818, 0.0]}, \"light_radius\": 0.11815591568664244, \"light_length\": 0.6147886690377609, \"light_intensity\": 50000.0, \"light_color_temperature\": 7878.325998821254, \"center_light_postion\": [0.6292492546754558, 0.9174407315859501, 1.415924504016945], \"center_light_orientation\": [0.9344187637071371, 0.0, 0.0, -0.3561763243563861]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Very_Strong_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750017, \"blink_pad\": 3, \"appearance_seed\": 16750017, \"blink_offset_steps\": 93, \"source_episode\": \"blinkpad3-9750017\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750020, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1379, 0.5675], \"2\": [-0.1166, 0.4062], \"3\": [-0.1655, 0.251]}, \"randplace\": [0.0145, 0.031, 2.5769], \"handover_result\": null}}"}
+{"episode_index": 26, "tasks": [0], "length": 1, "dataset_from_index": 26, "dataset_to_index": 26, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7360619521635486, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.693310260772705, 0.3617103397846222, 0.012000000104308128], \"quaternion\": [0.7049954425728733, 0.7049954425728732, -0.054602435398786175, -0.0546024353987863]}, \"12\": {\"position\": [-0.36295023560523987, -0.058539602905511856, 0.03657222166657448], \"quaternion\": [0.5989811867081858, 8.957573157771263e-05, -0.0020862754692352325, -0.8007603745194362]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Black_White\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], 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\"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0412539954146935, 0.0]}, \"light_radius\": 0.08691997443562954, \"light_length\": 1.9350869502587622, \"light_intensity\": 50000.0, \"light_color_temperature\": 6481.782172338514, \"center_light_postion\": [0.6386772201440221, -1.00302559551147, 1.336632756933395], \"center_light_orientation\": [0.7279637819483001, 0.0, 0.0, -0.6856155862956499]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5318586085627408, 1.0412539954146935, 0.0]}, \"light_radius\": 0.08691997443562954, \"light_length\": 1.9350869502587622, \"light_intensity\": 50000.0, \"light_color_temperature\": 6481.782172338514, \"center_light_postion\": [0.6386772201440221, -1.00302559551147, 1.336632756933395], \"center_light_orientation\": [0.7279637819483001, 0.0, 0.0, -0.6856155862956499]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Black_White\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Metallic.mdl\", \"name\": \"Dark_Gray_Metallic\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.17543286179357476, \"metallic_constant\": 0.0507208018301073, \"specular_level\": 0.1850486648932148}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3336731888162088, \"metallic_constant\": 0.21522645410777141, \"specular_level\": 0.08397627816493913}, {\"reflection_roughness_constant\": 0.23689388086444585, \"metallic_constant\": 0.5255504142970282, \"specular_level\": 0.9667551624980597}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Black_White\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.3336731888162088, \"metallic_constant\": 0.21522645410777141, \"specular_level\": 0.08397627816493913}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8885755509109786, 0.0009918025093488114, -0.0018376335128831483, -0.4587255494891319]}, \"material\": {\"reflection_roughness_constant\": 0.23689388086444585, \"metallic_constant\": 0.5255504142970282, \"specular_level\": 0.9667551624980597}}, \"distractor_0\": {\"uid\": \"25\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.20348290468451974, 0.4417808771913825, 0.031145205839611854], \"quaternion\": [0.9999952705616312, 0.0001807586360035439, -0.002239494103316246, 0.0021002016205473777]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5318586085627408, -1.0412539954146935, 0.0]}, \"light_radius\": 0.08691997443562954, \"light_length\": 1.9350869502587622, \"light_intensity\": 50000.0, \"light_color_temperature\": 6481.782172338514, \"center_light_postion\": [0.6386772201440221, 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\"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Black_White\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750020, \"blink_pad\": 3, \"appearance_seed\": 16750020, \"blink_offset_steps\": 103, \"source_episode\": \"blinkpad3-9750020\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750023, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1547, 0.5107], \"2\": [-0.1334, 0.3493], \"3\": [-0.1823, 0.1941]}, \"randplace\": [-0.0023, -0.0259, 3.9838], \"handover_result\": null}}"}
+{"episode_index": 27, "tasks": [0], "length": 1, "dataset_from_index": 27, "dataset_to_index": 27, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.748062327966103, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6297738552093506, 0.4187709391117096, 0.012000000104308128], \"quaternion\": [0.7041029468688244, 0.7041029468688246, -0.06510791204329369, -0.06510791204329378]}, \"12\": {\"position\": [-0.37953099608421326, 0.08846835792064667, 0.03657222166657448], \"quaternion\": [0.5627034095478185, -3.480034295500178e-06, -0.00208819468311372, -0.8266562237799429]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Opaque.mdl\", \"name\": \"Polycarbonate_Light_Gray\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.352447385445132, -1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.352447385445132, -1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.352447385445132, 1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.352447385445132, 1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Opaque.mdl\", \"name\": \"Polycarbonate_Light_Gray\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Brushed.mdl\", \"name\": \"Copper_Brushed\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9103998994586182, \"metallic_constant\": 0.395087408098885, \"specular_level\": 0.17405839693798775}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4027853486573424, \"metallic_constant\": 0.033101893713143205, \"specular_level\": 0.07224273053286145}, {\"reflection_roughness_constant\": 0.13253307773924394, \"metallic_constant\": 0.27615617224158884, \"specular_level\": 0.6261438028790094}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Opaque.mdl\", \"name\": \"Polycarbonate_Light_Gray\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.4027853486573424, \"metallic_constant\": 0.033101893713143205, \"specular_level\": 0.07224273053286145}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9058596558033549, 0.0010630119295390826, -0.0017973799773223957, -0.4235728076950672]}, \"material\": {\"reflection_roughness_constant\": 0.13253307773924394, \"metallic_constant\": 0.27615617224158884, \"specular_level\": 0.6261438028790094}}, \"distractor_0\": {\"uid\": \"35\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"35\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/035_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.28191575568320426, 0.38680145868769555, 0.02203180799585341], \"quaternion\": [0.9969128731696079, 0.07507026920778502, 0.023003683134631765, 9.247718930837902e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.352447385445132, -1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 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0.1415223400905559]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.352447385445132, 1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.352447385445132, 1.0532906737235284, 0.0]}, \"light_radius\": 0.09768014986212872, \"light_length\": 0.5360192344286134, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.8887314517715, \"center_light_postion\": [0.8919573591267151, 0.3979484589350819, 1.3912814946780312], \"center_light_orientation\": [0.9899350621405896, 0.0, 0.0, 0.1415223400905559]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Opaque.mdl\", \"name\": \"Polycarbonate_Light_Gray\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750023, \"blink_pad\": 3, \"appearance_seed\": 16750023, \"blink_offset_steps\": 27, \"source_episode\": \"blinkpad3-9750023\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750026, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.181, 0.5392], \"2\": [-0.1597, 0.3779], \"3\": [-0.2086, 0.2227]}, \"randplace\": [-0.0286, 0.0027, 8.4729], \"handover_result\": null}}"}
+{"episode_index": 28, "tasks": [0], "length": 1, "dataset_from_index": 28, "dataset_to_index": 28, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6926068431391352, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6013307571411133, 0.4278029501438141, 0.012000000104308128], \"quaternion\": [0.5775107946998583, 0.5775107946998587, -0.4080211783782035, -0.40802117837820373]}, \"12\": {\"position\": [-0.3630785644054413, 0.01996038481593132, 0.03657222166657448], \"quaternion\": [0.5518311722904503, -3.0821956363510895e-05, -0.002087970103288983, -0.8339532341321079]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Red_Fine\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1804822557483605, -1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1804822557483605, -1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1804822557483605, 1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1804822557483605, 1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Red_Fine\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Scratched.mdl\", \"name\": \"Chromium_Scratched_Dark_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.11212354647800948, \"metallic_constant\": 0.768827479512751, \"specular_level\": 0.9217582154614136}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.04916531896346554, \"metallic_constant\": 0.6955288670775649, \"specular_level\": 0.9941595485688564}, {\"reflection_roughness_constant\": 0.9628913966495474, \"metallic_constant\": 0.792880609346759, \"specular_level\": 0.9087732671326304}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Red_Fine\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.04916531896346554, \"metallic_constant\": 0.6955288670775649, \"specular_level\": 0.9941595485688564}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8537183366197068, 0.0008586622416802227, -0.001903488455424554, -0.5207308720924239]}, \"material\": {\"reflection_roughness_constant\": 0.9628913966495474, \"metallic_constant\": 0.792880609346759, \"specular_level\": 0.9087732671326304}}, \"distractor_0\": {\"uid\": \"28\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"28\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/028_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15415123765486244, 0.4939145203003352, 0.008212346112551202], \"quaternion\": [0.673235521868679, -0.7210042475108074, 0.10932729727638327, -0.1222879766609243]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"21\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"21\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/021_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.28523825057823193, 0.4351484642261021, 0.028265690629526222], \"quaternion\": [0.9999801632573285, -0.004548559188123117, 0.004357028933328114, 1.804832905633172e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"27\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"27\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/027_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1307973453568053, 0.10895500445496653, 0.009931246644303561], \"quaternion\": [0.7498643123457527, 0.1473015205045196, 0.6446390792567795, -0.021124218855622705]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1804822557483605, -1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1804822557483605, -1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1804822557483605, 1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1804822557483605, 1.1919993872598662, 0.0]}, \"light_radius\": 0.08805480389805503, \"light_length\": 1.3140578446439326, \"light_intensity\": 50000.0, \"light_color_temperature\": 7576.892552368538, \"center_light_postion\": [0.22767382823970195, 0.07226022567432344, 1.3606824983754195], \"center_light_orientation\": [0.8374842333385817, 0.0, 0.0, -0.5464614889535109]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Red_Fine\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750032, \"blink_pad\": 3, \"appearance_seed\": 16750032, \"blink_offset_steps\": 90, \"source_episode\": \"blinkpad3-9750032\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750035, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1623, 0.5918], \"2\": [-0.141, 0.4305], \"3\": [-0.1899, 0.2753]}, \"randplace\": [-0.0099, 0.0553, -4.169], \"handover_result\": null}}"}
+{"episode_index": 29, "tasks": [0], "length": 1, "dataset_from_index": 29, "dataset_to_index": 29, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7699248623849573, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6828129291534424, 0.4223936200141907, 0.012000000104308128], \"quaternion\": [0.5030232566712309, 0.5030232566712309, 0.4969583516230197, 0.49695835162301977]}, \"12\": {\"position\": [-0.3677617907524109, -0.024736978113651276, 0.03657222166657448], \"quaternion\": [0.6481014944807291, 0.00022045755558286129, -0.0020765277776635394, -0.7615511094356705]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Shiny_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4206967691084649, -0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4206967691084649, -0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4206967691084649, 0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4206967691084649, 0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Shiny_Wrinkled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Iron.mdl\", \"name\": \"Iron_Glossy_Fingerprints\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.19807781183832307, \"metallic_constant\": 0.9752820927816224, \"specular_level\": 0.30521141809841845}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7518698838239727, \"metallic_constant\": 0.10432195049268478, \"specular_level\": 0.5953480783810485}, {\"reflection_roughness_constant\": 0.6768615175728542, \"metallic_constant\": 0.20134993518001287, \"specular_level\": 0.3583394140925529}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Shiny_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7518698838239727, \"metallic_constant\": 0.10432195049268478, \"specular_level\": 0.5953480783810485}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.854069117117661, 0.0008599450044569008, -0.0019029092817397996, -0.5201553446968648]}, \"material\": {\"reflection_roughness_constant\": 0.6768615175728542, \"metallic_constant\": 0.20134993518001287, \"specular_level\": 0.3583394140925529}}, \"distractor_0\": {\"uid\": \"7\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"7\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/007_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2400948716599465, -0.39583466838296266, 0.03990936168085146], \"quaternion\": [0.9999989808972521, -0.0005831411503792082, -0.0012943987296028892, -0.00015060804949770196]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"39\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"39\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/039_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12188360324088303, 0.28664441423835385, 0.021314394843131922], \"quaternion\": [0.9998623549342395, 0.015861235749485635, -0.004852539276635337, -0.00038111471468161223]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4206967691084649, -0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4206967691084649, -0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4206967691084649, 0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4206967691084649, 0.8729288692450972, 0.0]}, \"light_radius\": 0.09095438310453346, \"light_length\": 2.0505178932235593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7890.022546423708, \"center_light_postion\": [-0.7439920620470284, 0.3709517269668905, 1.347016848806911], \"center_light_orientation\": [0.7962179359157046, 0.0, 0.0, -0.6050099160560387]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Shiny_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750035, \"blink_pad\": 3, \"appearance_seed\": 16750035, \"blink_offset_steps\": 113, \"source_episode\": \"blinkpad3-9750035\", \"variant\": \"touch\", \"dr_level\": 0, \"level_seed\": 17750038, \"level\": \"touch-L0\", \"pads\": {\"1\": [-0.1318, 0.5477], \"2\": [-0.1105, 0.3864], \"3\": [-0.1594, 0.2312]}, \"randplace\": [0.0206, 0.0112, -4.0917], \"handover_result\": null}}"}
+{"episode_index": 30, "tasks": [0], "length": 1, "dataset_from_index": 30, "dataset_to_index": 30, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6952475433787539, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6390886306762695, 0.37365907430648804, 0.012000000104308128], \"quaternion\": [0.35386071398742236, 0.35386071398742247, -0.6121948996000466, -0.612194899600047]}, \"12\": {\"position\": [-0.36843153834342957, 0.08188282698392868, 0.03657222166657448], \"quaternion\": [0.6157746654916343, 0.00013365762426630661, -0.0020839157335886815, -0.7879195395276862]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Warmgolden_Steel\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6628034021671021, 0.0]}, \"light_radius\": 0.0823312508354853, \"light_length\": 0.6058165518069245, \"light_intensity\": 50000.0, \"light_color_temperature\": 6503.945799369889, \"center_light_postion\": [-0.7437684206288913, 0.2003334175995597, 1.3239816799630073], \"center_light_orientation\": [0.7388229993613737, 0.0, 0.0, 0.6738995293177341]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.3278702589158717, 0.6628034021671021, 0.0]}, \"light_radius\": 0.0823312508354853, \"light_length\": 0.6058165518069245, \"light_intensity\": 50000.0, \"light_color_temperature\": 6503.945799369889, \"center_light_postion\": [-0.7437684206288913, 0.2003334175995597, 1.3239816799630073], \"center_light_orientation\": [0.7388229993613737, 0.0, 0.0, 0.6738995293177341]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Warmgolden_Steel\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Beech.mdl\", \"name\": \"Wood_Tiles_Beech_Herringbone\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.21212038500781172, \"metallic_constant\": 0.2326439122106836, \"specular_level\": 0.1486023377390917}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7683467874955684, \"metallic_constant\": 0.06931142104160315, \"specular_level\": 0.6639288579573297}, {\"reflection_roughness_constant\": 0.27175318732050735, \"metallic_constant\": 0.08443227683810828, \"specular_level\": 0.17689268987717488}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Warmgolden_Steel\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 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\"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Warmgolden_Steel\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750042, \"blink_pad\": 1, \"appearance_seed\": 16750042, \"blink_offset_steps\": 82, \"source_episode\": \"blinkpad1-9750042\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750048, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.127, 0.5218], \"2\": [-0.1057, 0.3605], \"3\": [-0.1546, 0.2053]}, \"randplace\": [0.0254, -0.0147, -5.3474], \"handover_result\": null}}"}
+{"episode_index": 31, "tasks": [0], "length": 1, "dataset_from_index": 31, "dataset_to_index": 31, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7059885131140387, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6739320755004883, 0.4381827116012573, 0.012000000104308128], \"quaternion\": [0.6882281652083071, 0.6882281652083069, 0.16230216453888469, 0.16230216453888469]}, \"12\": {\"position\": [-0.38851964473724365, 0.08544059097766876, 0.03657222166657448], \"quaternion\": [0.5764367137079704, 3.141020966297037e-05, -0.002087961336795008, -0.8171391280072261]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9178807353526441, -0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9178807353526441, -0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9178807353526441, 0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9178807353526441, 0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Dark\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5262384503057937, \"metallic_constant\": 0.8371210704569161, \"specular_level\": 0.790573973887757}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4802659802188265, \"metallic_constant\": 0.9915986712178199, \"specular_level\": 0.1112024765917008}, {\"reflection_roughness_constant\": 0.14695468753535745, \"metallic_constant\": 0.887825027095669, \"specular_level\": 0.024536743994566068}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.4802659802188265, \"metallic_constant\": 0.9915986712178199, \"specular_level\": 0.1112024765917008}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8604616848062856, 0.000883505804173053, -0.001892085262141848, -0.5095108717301168]}, \"material\": {\"reflection_roughness_constant\": 0.14695468753535745, \"metallic_constant\": 0.887825027095669, \"specular_level\": 0.024536743994566068}}, \"distractor_0\": {\"uid\": \"4\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"4\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/004_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16379226798174223, 0.39417778333335096, 0.05051090228101861], \"quaternion\": [0.9999996203060304, -0.0007825072406519763, -0.0003827144368070325, 2.449234127980436e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9178807353526441, -0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9178807353526441, -0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9178807353526441, 0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9178807353526441, 0.7653726264281546, 0.0]}, \"light_radius\": 0.08421753315151574, \"light_length\": 1.3574481055555487, \"light_intensity\": 50000.0, \"light_color_temperature\": 6266.991420995758, \"center_light_postion\": [-0.9309265440252765, 1.0908849962067495, 1.4614573875716301], \"center_light_orientation\": [0.928697671112378, 0.0, 0.0, 0.37083774844323136]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750045, \"blink_pad\": 1, \"appearance_seed\": 16750045, \"blink_offset_steps\": 102, \"source_episode\": \"blinkpad1-9750045\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750051, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1381, 0.5034], \"2\": [-0.1168, 0.3421], \"3\": [-0.1657, 0.1869]}, \"randplace\": [0.0143, -0.0331, -2.6689], \"handover_result\": null}}"}
+{"episode_index": 32, "tasks": [0], "length": 1, "dataset_from_index": 32, "dataset_to_index": 32, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7672306387367169, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6231207847595215, 0.3810454308986664, 0.012000000104308128], \"quaternion\": [0.26250655684716956, 0.2625065568471695, -0.6565746778640216, -0.6565746778640216]}, \"12\": {\"position\": [-0.35192322731018066, 0.021064145490527153, 0.03657222166657448], \"quaternion\": [0.6340505020104077, 0.0001824038326643332, -0.002080215851071987, -0.7732888207721645]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Brushed.mdl\", \"name\": \"Titanium_Brushed_Medium_Light_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4106371829289743, -0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4106371829289743, -0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4106371829289743, 0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4106371829289743, 0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Brushed.mdl\", \"name\": \"Titanium_Brushed_Medium_Light_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Herringbone.mdl\", \"name\": \"Polyester_Herringbone_Maroon\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.12079468724059372, \"metallic_constant\": 0.5311385547609255, \"specular_level\": 0.021865872536189657}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5150354280246968, \"metallic_constant\": 0.8199410144164441, \"specular_level\": 0.9158394615018624}, {\"reflection_roughness_constant\": 0.6766253417519018, \"metallic_constant\": 0.8658840601463348, \"specular_level\": 0.6785541966364727}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Brushed.mdl\", \"name\": \"Titanium_Brushed_Medium_Light_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.5150354280246968, \"metallic_constant\": 0.8199410144164441, \"specular_level\": 0.9158394615018624}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.847717748097775, 0.0008368750076147656, -0.001913167365091629, -0.5304434550363428]}, \"material\": {\"reflection_roughness_constant\": 0.6766253417519018, \"metallic_constant\": 0.8658840601463348, \"specular_level\": 0.6785541966364727}}, \"distractor_0\": {\"uid\": \"38\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"38\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/038_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12518318194978523, 0.5251824474099583, 0.022120817742994126], \"quaternion\": [0.9983512049299073, 0.003560761102340144, 0.006968032073099255, -0.05686509583569946]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"2\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22483148868932, -0.39504282976216043, 0.05990794499606073], \"quaternion\": [0.9999994862139763, 0.0001379487826685896, -0.0010042618133162982, -3.5710943586164063e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4106371829289743, -0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4106371829289743, -0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4106371829289743, 0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4106371829289743, 0.8553802671656074, 0.0]}, \"light_radius\": 0.11697358783325362, \"light_length\": 0.6939104453190234, \"light_intensity\": 50000.0, \"light_color_temperature\": 7466.69395542309, \"center_light_postion\": [1.0968525693677327, -1.0264517128175552, 1.3618382762924093], \"center_light_orientation\": [0.9694082350536052, 0.0, 0.0, 0.2454540156735151]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Brushed.mdl\", \"name\": \"Titanium_Brushed_Medium_Light_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750048, \"blink_pad\": 1, \"appearance_seed\": 16750048, \"blink_offset_steps\": 31, \"source_episode\": \"blinkpad1-9750048\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750054, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1532, 0.5878], \"2\": [-0.1319, 0.4265], \"3\": [-0.1808, 0.2712]}, \"randplace\": [-0.0008, 0.0512, -5.4772], \"handover_result\": null}}"}
+{"episode_index": 33, "tasks": [0], "length": 1, "dataset_from_index": 33, "dataset_to_index": 33, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7209428127508701, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6962132453918457, 0.3963848352432251, 0.012000000104308128], \"quaternion\": [0.7053986517268142, 0.705398651726814, 0.049119671639709095, 0.04911967163970912]}, \"12\": {\"position\": [-0.363118052482605, -0.06775018572807312, 0.03657222166657448], \"quaternion\": [0.5923507396766262, 7.235109454238343e-05, -0.0020869438095793003, -0.8056775041140275]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Olive_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2817165274823856, -0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2817165274823856, -0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2817165274823856, 0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2817165274823856, 0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Olive_Green\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Volga_Blue.mdl\", \"name\": \"Volga_Blue_Deep_Pollished\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8723217374382618, \"metallic_constant\": 0.12003788375941815, \"specular_level\": 0.8878779323358521}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.44916188855644845, \"metallic_constant\": 0.82651478961253, \"specular_level\": 0.6660245319528154}, {\"reflection_roughness_constant\": 0.3270113166408216, \"metallic_constant\": 0.6248534492161751, \"specular_level\": 0.07190607149051442}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Olive_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.44916188855644845, \"metallic_constant\": 0.82651478961253, \"specular_level\": 0.6660245319528154}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8794325422846, 0.0009556673289572102, -0.0018566822834253712, -0.47601895235557645]}, \"material\": {\"reflection_roughness_constant\": 0.3270113166408216, \"metallic_constant\": 0.6248534492161751, \"specular_level\": 0.07190607149051442}}, \"distractor_0\": {\"uid\": \"7\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"7\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/007_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.25159143180847643, 0.3568284677600293, 0.03990936168085146], \"quaternion\": [0.9999989808972521, -0.0005831411503792082, -0.0012943987296028892, -0.00015060804949770196]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"18\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"18\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/018_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1776422748662218, -0.3889502841676038, 0.005888946561435833], \"quaternion\": [0.6893262685248722, -0.08608386766212113, -0.7115336943090719, -0.10553987451570405]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"38\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"38\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/038_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14252943235916798, 0.4097174740640137, 0.022120817742994126], \"quaternion\": [0.9983512049299073, 0.003560761102340144, 0.006968032073099255, -0.05686509583569946]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2817165274823856, -0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2817165274823856, -0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2817165274823856, 0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2817165274823856, 0.8946145418041932, 0.0]}, \"light_radius\": 0.09807371885675636, \"light_length\": 1.5935281124636425, \"light_intensity\": 50000.0, \"light_color_temperature\": 6774.37293938567, \"center_light_postion\": [-0.40282501889225153, -0.9323991394319227, 1.3868004000843723], \"center_light_orientation\": [0.997525137552902, 0.0, 0.0, 0.07031073851172352]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Olive_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750051, \"blink_pad\": 1, \"appearance_seed\": 16750051, \"blink_offset_steps\": 97, \"source_episode\": \"blinkpad1-9750051\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750057, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1609, 0.5718], \"2\": [-0.1396, 0.4105], \"3\": [-0.1885, 0.2553]}, \"randplace\": [-0.0085, 0.0353, 1.7422], \"handover_result\": null}}"}
+{"episode_index": 34, "tasks": [0], "length": 1, "dataset_from_index": 34, "dataset_to_index": 34, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.749109272388317, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6008005142211914, 0.4027327299118042, 0.012000000104308128], \"quaternion\": [0.5438291294675784, 0.5438291294675786, 0.45194012650188, 0.4519401265018803]}, \"12\": {\"position\": [-0.36631885170936584, -0.05960073322057724, 0.03657222166657448], \"quaternion\": [0.6593682434366162, 0.00025135014014806244, -0.0020730152561592163, -0.7518172377500836]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Brushed.mdl\", \"name\": \"Gold_Brushed_Very_Strong_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3478310084125749, -0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3478310084125749, -0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3478310084125749, 0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3478310084125749, 0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Brushed.mdl\", \"name\": \"Gold_Brushed_Very_Strong_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Red_Rough_Worn\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9780886716011994, \"metallic_constant\": 0.11574714338329961, \"specular_level\": 0.037620933944732315}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2078221082101116, \"metallic_constant\": 0.7877527783892245, \"specular_level\": 0.17996487372068326}, {\"reflection_roughness_constant\": 0.7257676489978324, \"metallic_constant\": 0.32215272870026646, \"specular_level\": 0.518521184696344}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Brushed.mdl\", \"name\": \"Gold_Brushed_Very_Strong_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.2078221082101116, \"metallic_constant\": 0.7877527783892245, \"specular_level\": 0.17996487372068326}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8978621466180869, 0.0010295521340865264, -0.0018167530235064255, -0.4402717400665369]}, \"material\": {\"reflection_roughness_constant\": 0.7257676489978324, \"metallic_constant\": 0.32215272870026646, \"specular_level\": 0.518521184696344}}, \"distractor_0\": {\"uid\": \"7\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"7\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/007_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.26747674411106126, 0.48163552070409654, 0.03990936168085146], \"quaternion\": [0.9999989808972521, -0.0005831411503792082, -0.0012943987296028892, -0.00015060804949770196]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"36\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"36\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/036_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.25803286915666485, 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\"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3478310084125749, -0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3478310084125749, 0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3478310084125749, 0.5108072676349625, 0.0]}, \"light_radius\": 0.08300478369731457, \"light_length\": 1.9599681565450737, \"light_intensity\": 50000.0, \"light_color_temperature\": 6399.950045440879, \"center_light_postion\": [-0.8756280199225178, 0.011114546852746265, 1.3617501801295369], \"center_light_orientation\": [0.9700201099808748, 0.0, 0.0, -0.24302466177878237]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Brushed.mdl\", \"name\": \"Gold_Brushed_Very_Strong_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750057, \"blink_pad\": 1, \"appearance_seed\": 16750057, \"blink_offset_steps\": 111, \"source_episode\": \"blinkpad1-9750057\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750063, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1286, 0.5577], \"2\": [-0.1073, 0.3963], \"3\": [-0.1562, 0.2411]}, \"randplace\": [0.0238, 0.0211, 6.3512], \"handover_result\": null}}"}
+{"episode_index": 35, "tasks": [0], "length": 1, "dataset_from_index": 35, "dataset_to_index": 35, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7210897974741691, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6477625370025635, 0.4219028651714325, 0.012000000104308128], \"quaternion\": [0.6638395014168832, 0.6638395014168832, -0.24355105493219242, -0.24355105493219248]}, \"12\": {\"position\": [-0.35320261120796204, -0.026909006759524345, 0.03657222166657448], \"quaternion\": [0.566629976749183, 6.4548911329681e-06, -0.0020881876064194893, -0.8239697257060331]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl\", \"name\": \"plastic_orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2220156205622836, -1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2220156205622836, -1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2220156205622836, 1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2220156205622836, 1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl\", \"name\": \"plastic_orange\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Knurling.mdl\", \"name\": \"Bronze_Knurling_Rough_Dirty\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.3583023917881265, \"metallic_constant\": 0.5063067899493252, \"specular_level\": 0.6470030422462393}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.1113576828664401, \"metallic_constant\": 0.7295827338257675, \"specular_level\": 0.594266549200809}, {\"reflection_roughness_constant\": 0.24603679909537135, \"metallic_constant\": 0.5566716905378921, \"specular_level\": 0.26889783933129063}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl\", \"name\": \"plastic_orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.1113576828664401, \"metallic_constant\": 0.7295827338257675, \"specular_level\": 0.594266549200809}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8609336522730754, 0.000885259464180305, -0.0018912654034537455, -0.5087129699689195]}, \"material\": {\"reflection_roughness_constant\": 0.24603679909537135, \"metallic_constant\": 0.5566716905378921, \"specular_level\": 0.26889783933129063}}, \"distractor_0\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.25529054872548373, 0.3976664514464975, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2220156205622836, -1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2220156205622836, -1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2220156205622836, 1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2220156205622836, 1.0115289597308583, 0.0]}, \"light_radius\": 0.087818704579522, \"light_length\": 1.8755094354581037, \"light_intensity\": 50000.0, \"light_color_temperature\": 6616.961189394728, \"center_light_postion\": [-0.11478435372695672, 0.3944017948111118, 1.3226783237584196], \"center_light_orientation\": [0.8900381973098511, 0.0, 0.0, -0.4558859586886073]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl\", \"name\": \"plastic_orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750060, \"blink_pad\": 1, \"appearance_seed\": 16750060, \"blink_offset_steps\": 83, \"source_episode\": \"blinkpad1-9750060\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750066, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1355, 0.4611], \"2\": [-0.1142, 0.2998], \"3\": [-0.1631, 0.1446]}, \"randplace\": [0.0169, -0.0754, -2.5627], \"handover_result\": null}}"}
+{"episode_index": 36, "tasks": [0], "length": 1, "dataset_from_index": 36, "dataset_to_index": 36, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7703405409228365, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.608090877532959, 0.43322432041168213, 0.012000000104308128], \"quaternion\": [0.6516411368819719, 0.6516411368819719, -0.2745247324434923, -0.2745247324434923]}, \"12\": {\"position\": [-0.371873140335083, 0.055051062256097794, 0.03657222166657448], \"quaternion\": [0.5498847865237511, -3.569128463993389e-05, -0.0020878925445108054, -0.8352379068149287]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Foil.mdl\", \"name\": \"Chromium_Foil_Heavy_Matte_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2696988650565766, -0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2696988650565766, -0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2696988650565766, 0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", 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\"Chromium_Foil_Heavy_Matte_Wrinkled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Gems/Aquamarine.mdl\", \"name\": \"Aquamarine\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.20097392160514005, \"metallic_constant\": 0.21001022352821996, \"specular_level\": 0.08519755356131453}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4514094503071133, \"metallic_constant\": 0.19638206532288283, \"specular_level\": 0.7909765507184268}, {\"reflection_roughness_constant\": 0.5496102505249216, \"metallic_constant\": 0.7060012970856279, \"specular_level\": 0.7580023502081882}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Foil.mdl\", \"name\": \"Chromium_Foil_Heavy_Matte_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.4514094503071133, \"metallic_constant\": 0.19638206532288283, \"specular_level\": 0.7909765507184268}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8496545105294482, 0.0008438752795582214, -0.001910089960649077, -0.5273356162519454]}, \"material\": {\"reflection_roughness_constant\": 0.5496102505249216, \"metallic_constant\": 0.7060012970856279, \"specular_level\": 0.7580023502081882}}, \"distractor_0\": {\"uid\": \"4\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"4\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/004_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.13439931013902742, 0.5641299694431641, 0.05051090228101861], \"quaternion\": [0.9999996203060304, -0.0007825072406519763, -0.0003827144368070325, 2.449234127980436e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2696988650565766, -0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2696988650565766, -0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2696988650565766, 0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2696988650565766, 0.8267841349490652, 0.0]}, \"light_radius\": 0.1071731060482251, \"light_length\": 1.7894236890722135, \"light_intensity\": 50000.0, \"light_color_temperature\": 6697.81917169237, \"center_light_postion\": [0.9347081985621268, 1.0651337747551741, 1.4276586015203978], \"center_light_orientation\": [0.8741645101147457, 0.0, 0.0, 0.48562990976241016]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Foil.mdl\", \"name\": \"Chromium_Foil_Heavy_Matte_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750063, \"blink_pad\": 1, \"appearance_seed\": 16750063, \"blink_offset_steps\": 56, \"source_episode\": \"blinkpad1-9750063\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750069, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.171, 0.5147], \"2\": [-0.1497, 0.3534], \"3\": [-0.1986, 0.1982]}, \"randplace\": [-0.0186, -0.0218, -5.0576], \"handover_result\": null}}"}
+{"episode_index": 37, "tasks": [0], "length": 1, "dataset_from_index": 37, "dataset_to_index": 37, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6970414730061807, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6801681518554688, 0.39921459555625916, 0.012000000104308128], \"quaternion\": [0.13216548813558002, 0.13216548813558, 0.6946454374325681, 0.6946454374325681]}, \"12\": {\"position\": [-0.38178393244743347, 0.061800774186849594, 0.03657222166657448], \"quaternion\": [0.5416487096815579, -5.6211359116112276e-05, -0.0020874408801996314, -0.8406023523231173]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7080786743392382, -1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7080786743392382, -1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7080786743392382, 1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7080786743392382, 1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Chevron\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.046000000902310156, \"metallic_constant\": 0.8599201486083814, \"specular_level\": 0.7187957991291318}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6173659375744993, \"metallic_constant\": 0.045893089528948106, \"specular_level\": 0.44978506766750936}, {\"reflection_roughness_constant\": 0.48026540762149816, \"metallic_constant\": 0.9295942636580086, \"specular_level\": 0.5068795291262854}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.6173659375744993, \"metallic_constant\": 0.045893089528948106, \"specular_level\": 0.44978506766750936}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8865642169275171, 0.0009837696730036372, -0.0018419463552721007, -0.46260083084075154]}, \"material\": {\"reflection_roughness_constant\": 0.48026540762149816, \"metallic_constant\": 0.9295942636580086, \"specular_level\": 0.5068795291262854}}, \"distractor_0\": {\"uid\": \"39\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"39\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/039_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.13702080351098572, 0.4923914622211243, 0.021314394843131922], \"quaternion\": [0.9998623549342395, 0.015861235749485635, -0.004852539276635337, -0.00038111471468161223]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7080786743392382, -1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7080786743392382, -1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7080786743392382, 1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7080786743392382, 1.1743665754958956, 0.0]}, \"light_radius\": 0.09181782587079657, \"light_length\": 1.3166596044720595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6553.374011929394, \"center_light_postion\": [0.9435314811415321, -0.7590961348769903, 1.4562927217526853], \"center_light_orientation\": [0.7989368716431122, 0.0, 0.0, -0.6014148943359461]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750066, \"blink_pad\": 1, \"appearance_seed\": 16750066, \"blink_offset_steps\": 58, \"source_episode\": \"blinkpad1-9750066\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750072, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1426, 0.5744], \"2\": [-0.1213, 0.4131], \"3\": [-0.1702, 0.2578]}, \"randplace\": [0.0098, 0.0378, 3.4835], \"handover_result\": null}}"}
+{"episode_index": 38, "tasks": [0], "length": 1, "dataset_from_index": 38, "dataset_to_index": 38, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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[0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Suede_Leather.mdl\", \"name\": \"Suede_Leather\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7416616252459085, 0.0]}, \"light_radius\": 0.08682150449380482, \"light_length\": 1.1697005721628355, \"light_intensity\": 50000.0, \"light_color_temperature\": 7086.82342584587, \"center_light_postion\": [0.8188456922331475, -0.19716744231135952, 1.4311260513699746], \"center_light_orientation\": [0.7122600923802589, 0.0, 0.0, -0.7019156365279698]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2982021201927878, 0.7416616252459085, 0.0]}, \"light_radius\": 0.08682150449380482, \"light_length\": 1.1697005721628355, \"light_intensity\": 50000.0, \"light_color_temperature\": 7086.82342584587, \"center_light_postion\": [0.8188456922331475, -0.19716744231135952, 1.4311260513699746], \"center_light_orientation\": [0.7122600923802589, 0.0, 0.0, -0.7019156365279698]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Suede_Leather.mdl\", 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[1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Suede_Leather.mdl\", \"name\": \"Suede_Leather\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750069, \"blink_pad\": 1, \"appearance_seed\": 16750069, \"blink_offset_steps\": 38, \"source_episode\": \"blinkpad1-9750069\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750075, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1707, 0.5187], \"2\": [-0.1494, 0.3574], \"3\": [-0.1983, 0.2022]}, \"randplace\": [-0.0183, -0.0178, -7.6625], \"handover_result\": null}}"}
+{"episode_index": 39, "tasks": [0], "length": 1, "dataset_from_index": 39, "dataset_to_index": 39, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6986229795346666, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6351876258850098, 0.3748141825199127, 0.012000000104308128], \"quaternion\": [0.1623137685552199, 0.16231376855522, 0.6882254285751159, 0.6882254285751161]}, \"12\": {\"position\": [-0.3731193542480469, -0.009081552736461163, 0.03657222166657448], \"quaternion\": [0.5759123333004637, 3.0070604755040813e-05, -0.0020879810592894232, -0.8175087912574827]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0872262453030739, -0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0872262453030739, -0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0872262453030739, 0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0872262453030739, 0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Granite_Polished.mdl\", \"name\": \"butterfly_verde\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.05894878720168406, \"metallic_constant\": 0.12972040991186284, \"specular_level\": 0.5993507017680683}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7551436502251176, \"metallic_constant\": 0.6003899617250408, \"specular_level\": 0.208557277975831}, {\"reflection_roughness_constant\": 0.658160395196782, \"metallic_constant\": 0.056431087575115724, \"specular_level\": 0.05812554827889982}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7551436502251176, \"metallic_constant\": 0.6003899617250408, \"specular_level\": 0.208557277975831}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8521837729321349, 0.0008530625466996721, -0.0019060045741393509, -0.5232384318663975]}, \"material\": {\"reflection_roughness_constant\": 0.658160395196782, \"metallic_constant\": 0.056431087575115724, \"specular_level\": 0.05812554827889982}}, \"distractor_0\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15517079389847813, 0.4775788579148911, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"25\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12807405287588886, -0.31074064667248, 0.031145205839611854], \"quaternion\": [0.9999952705616312, 0.0001807586360035439, -0.002239494103316246, 0.0021002016205473777]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0872262453030739, -0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0872262453030739, -0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0872262453030739, 0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0872262453030739, 0.8952870729322472, 0.0]}, \"light_radius\": 0.08878482260020966, \"light_length\": 1.5313562330795765, \"light_intensity\": 50000.0, \"light_color_temperature\": 6089.157139444102, \"center_light_postion\": [0.6001587197057041, 0.3417633200610708, 1.3838438777554591], \"center_light_orientation\": [0.9974329813098257, 0.0, 0.0, -0.07160619942011232]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750072, \"blink_pad\": 1, \"appearance_seed\": 16750072, \"blink_offset_steps\": 81, \"source_episode\": \"blinkpad1-9750072\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750078, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1561, 0.5533], \"2\": [-0.1348, 0.392], \"3\": [-0.1837, 0.2368]}, \"randplace\": [-0.0037, 0.0168, -4.5059], \"handover_result\": null}}"}
+{"episode_index": 40, "tasks": [0], "length": 1, "dataset_from_index": 40, "dataset_to_index": 40, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7183607559621464, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.64263653755188, 0.41115573048591614, 0.012000000104308128], \"quaternion\": [0.6699373072600731, 0.6699373072600733, -0.22623882147218233, -0.22623882147218255]}, \"12\": {\"position\": [-0.38651683926582336, -0.024811353534460068, 0.03657222166657448], \"quaternion\": [0.5797619508286354, 3.991885572865164e-05, -0.002087815995287956, -0.8147832348558909]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Optical.mdl\", \"name\": \"Glass_Optical_LASF\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.448133620878524, -1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.448133620878524, -1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.448133620878524, 1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.448133620878524, 1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Optical.mdl\", \"name\": \"Glass_Optical_LASF\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square_Brick.mdl\", \"name\": \"Ceramic_Tiles_Square_Brick_Gray\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.11549976991966537, \"metallic_constant\": 0.8572719301725172, \"specular_level\": 0.30349112033420644}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7654417271456008, \"metallic_constant\": 0.636237247086131, \"specular_level\": 0.0033501267699189707}, {\"reflection_roughness_constant\": 0.15438268444337833, \"metallic_constant\": 0.060031520675313144, \"specular_level\": 0.7155104414862807}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Optical.mdl\", \"name\": \"Glass_Optical_LASF\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7654417271456008, \"metallic_constant\": 0.636237247086131, \"specular_level\": 0.0033501267699189707}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9031222041801933, 0.0010514531714485914, -0.0018041661158198707, -0.4293785320059267]}, \"material\": {\"reflection_roughness_constant\": 0.15438268444337833, \"metallic_constant\": 0.060031520675313144, \"specular_level\": 0.7155104414862807}}, \"distractor_0\": {\"uid\": \"6\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"6\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/006_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.18749351630454142, -0.392447280038554, 0.025782274182429385], \"quaternion\": [0.9999997265710481, -0.0005242914188096242, -0.000521458515215252, -7.573288419067393e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"8\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"8\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/008_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.13665588144658936, 0.5192933251797056, 0.027943414600932928], \"quaternion\": [0.9999987458386448, 0.0005432698341971291, 0.001487599719398305, -1.503657189364449e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.448133620878524, -1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.448133620878524, -1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.448133620878524, 1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.448133620878524, 1.0848627697721716, 0.0]}, \"light_radius\": 0.11898696444008186, \"light_length\": 0.8060976768621115, \"light_intensity\": 50000.0, \"light_color_temperature\": 6418.033172025815, \"center_light_postion\": [-0.032389105018403086, 0.837615383323056, 1.3445788381838497], \"center_light_orientation\": [0.995711549546426, 0.0, 0.0, 0.09251221594932861]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Optical.mdl\", \"name\": \"Glass_Optical_LASF\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750031, \"blink_pad\": 2, \"appearance_seed\": 16750031, \"blink_offset_steps\": 34, \"source_episode\": \"blinkpad2-9750031\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750037, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1418, 0.5039], \"2\": [-0.1205, 0.3426], \"3\": [-0.1694, 0.1874]}, \"randplace\": [0.0106, -0.0326, 7.7374], \"handover_result\": null}}"}
+{"episode_index": 41, "tasks": [0], "length": 1, "dataset_from_index": 41, "dataset_to_index": 41, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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[0.992468547794241, 0.0, 0.0, -0.12249972097596942]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.355239239579562, 0.8803571691552085, 0.0]}, \"light_radius\": 0.11063417397570913, \"light_length\": 0.5659344161676626, \"light_intensity\": 50000.0, \"light_color_temperature\": 6121.786876209185, \"center_light_postion\": [0.015866820782148405, 0.282576139079761, 1.4695222729801385], \"center_light_orientation\": [0.992468547794241, 0.0, 0.0, -0.12249972097596942]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750034, \"blink_pad\": 2, \"appearance_seed\": 16750034, \"blink_offset_steps\": 53, \"source_episode\": \"blinkpad2-9750034\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750040, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.132, 0.5331], \"2\": [-0.1107, 0.3718], \"3\": [-0.1596, 0.2166]}, \"randplace\": [0.0204, -0.0034, -1.6563], \"handover_result\": null}}"}
+{"episode_index": 42, "tasks": [0], "length": 1, "dataset_from_index": 42, "dataset_to_index": 42, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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\"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Nebular\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Nude\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6166774381189303, \"metallic_constant\": 0.9520601480480017, \"specular_level\": 0.8160349535055541}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.48143803462559864, \"metallic_constant\": 0.5746025161568332, \"specular_level\": 0.8126532082556205}, {\"reflection_roughness_constant\": 0.24590501892521854, \"metallic_constant\": 0.7422098487194452, \"specular_level\": 0.7712682390907537}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Nebular\"}}, \"table2\": {\"uid\": \"box\", 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[1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Nebular\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750037, \"blink_pad\": 2, \"appearance_seed\": 16750037, \"blink_offset_steps\": 89, \"source_episode\": \"blinkpad2-9750037\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750043, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1249, 0.5301], \"2\": [-0.1037, 0.3688], \"3\": [-0.1525, 0.2136]}, \"randplace\": [0.0275, -0.0064, 8.4776], \"handover_result\": null}}"}
+{"episode_index": 43, "tasks": [0], "length": 1, "dataset_from_index": 43, "dataset_to_index": 43, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7231673486296475, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6495654582977295, 0.35693371295928955, 0.012000000104308128], \"quaternion\": [0.5805116306830793, 0.5805116306830793, 0.4037403208024585, 0.4037403208024584]}, \"12\": {\"position\": [-0.37092435359954834, 0.08271598070859909, 0.03657222166657448], \"quaternion\": [0.6364673096908712, 0.00018891271934014334, -0.0020796348548950405, -0.771300851241407]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Diagonal\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.87778701698246, -0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.87778701698246, -0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.87778701698246, 0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.87778701698246, 0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Diagonal\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Masonry/Sandstone_Brick_Vintage.mdl\", \"name\": \"Sandstone_Brick_Vintage_Red_Deposit\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8801327841520145, \"metallic_constant\": 0.9603317339452614, \"specular_level\": 0.41918167987192834}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7538706413842466, \"metallic_constant\": 0.5698567428085428, \"specular_level\": 0.06604614948392795}, {\"reflection_roughness_constant\": 0.04443126448261725, \"metallic_constant\": 0.338154742118434, \"specular_level\": 0.8281933825544208}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Diagonal\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7538706413842466, \"metallic_constant\": 0.5698567428085428, \"specular_level\": 0.06604614948392795}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.835404688454015, 0.0007930422286012114, -0.0019317487333701255, -0.5496313727762502]}, \"material\": {\"reflection_roughness_constant\": 0.04443126448261725, \"metallic_constant\": 0.338154742118434, \"specular_level\": 0.8281933825544208}}, \"distractor_0\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.138934883341509, 0.5428749254839816, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"2\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17672989652366838, 0.38355425181210334, 0.05990794499606073], \"quaternion\": [0.9999994862139763, 0.0001379487826685896, -0.0010042618133162982, -3.5710943586164063e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"6\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"6\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/006_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2892755442890674, 0.4981929899081511, 0.025782274182429385], \"quaternion\": [0.9999997265710481, -0.0005242914188096242, -0.000521458515215252, -7.573288419067393e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.87778701698246, -0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.87778701698246, -0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.87778701698246, 0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.87778701698246, 0.749822932160596, 0.0]}, \"light_radius\": 0.09495972538784839, \"light_length\": 1.7044403221738647, \"light_intensity\": 50000.0, \"light_color_temperature\": 6468.930185346776, \"center_light_postion\": [-0.5380240041214049, 0.5874318603578821, 1.3202299680138485], \"center_light_orientation\": [0.9185663111814759, 0.0, 0.0, -0.3952669123041491]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Diagonal\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750040, \"blink_pad\": 2, \"appearance_seed\": 16750040, \"blink_offset_steps\": 86, \"source_episode\": \"blinkpad2-9750040\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750046, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1568, 0.4846], \"2\": [-0.1355, 0.3233], \"3\": [-0.1844, 0.1681]}, \"randplace\": [-0.0044, -0.0519, -8.0899], \"handover_result\": null}}"}
+{"episode_index": 44, "tasks": [0], "length": 1, "dataset_from_index": 44, "dataset_to_index": 44, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7141184237800818, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.65649151802063, 0.42127159237861633, 0.012000000104308128], \"quaternion\": [0.5789742223187854, 0.5789742223187855, 0.40594192920953287, 0.4059419292095329]}, \"12\": {\"position\": [-0.3710649609565735, 0.07369912415742874, 0.03657222166657448], \"quaternion\": [0.5488692810425236, -3.822876095143268e-05, -0.0020878476254406753, -0.8359055878259924]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_dark_orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0012149063707096, -0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0012149063707096, -0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0012149063707096, 0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0012149063707096, 0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_dark_orange\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Lavender\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7570243065358006, \"metallic_constant\": 0.2376387791789909, \"specular_level\": 0.9697243535004668}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4830648108247583, \"metallic_constant\": 0.8890529498958376, \"specular_level\": 0.8326888847355245}, {\"reflection_roughness_constant\": 0.5712955067894512, \"metallic_constant\": 0.014055450005466597, \"specular_level\": 0.813093623787492}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_dark_orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.4830648108247583, \"metallic_constant\": 0.8890529498958376, \"specular_level\": 0.8326888847355245}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8359691590132157, 0.0007950272634811312, -0.0019309326232532203, -0.5487724524879071]}, \"material\": {\"reflection_roughness_constant\": 0.5712955067894512, \"metallic_constant\": 0.014055450005466597, \"specular_level\": 0.813093623787492}}, \"distractor_0\": {\"uid\": \"37\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"37\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/037_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1285973247986391, 0.4008825049719007, 0.023384398453904987], \"quaternion\": [0.9997816021807305, 0.0032060180730348127, 0.020650865775346763, -0.00010550723377541556]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0012149063707096, -0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0012149063707096, -0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0012149063707096, 0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0012149063707096, 0.5948294900974012, 0.0]}, \"light_radius\": 0.08049059089023274, \"light_length\": 1.8421299741018895, \"light_intensity\": 50000.0, \"light_color_temperature\": 7438.840021972641, \"center_light_postion\": [0.7679679353292492, -0.8978701503384474, 1.3286360789558969], \"center_light_orientation\": [0.8544357762611757, 0.0, 0.0, 0.5195570269421461]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_dark_orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750043, \"blink_pad\": 2, \"appearance_seed\": 16750043, \"blink_offset_steps\": 35, \"source_episode\": \"blinkpad2-9750043\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750049, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1559, 0.5388], \"2\": [-0.1346, 0.3774], \"3\": [-0.1835, 0.2222]}, \"randplace\": [-0.0035, 0.0022, -7.9721], \"handover_result\": null}}"}
+{"episode_index": 45, "tasks": [0], "length": 1, "dataset_from_index": 45, "dataset_to_index": 45, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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[0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"bark_oak_dark_contrast\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": 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0.2005526545909191}}, \"distractor_0\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16872085894781952, -0.3514103840398539, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2150563303299311, 0.3859701985302225, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 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\"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1790507794746938, 0.0]}, \"light_radius\": 0.10130135717112129, \"light_length\": 1.9400931470831413, \"light_intensity\": 50000.0, \"light_color_temperature\": 6565.338622202724, \"center_light_postion\": [0.6021442627572124, 0.2693969756736925, 1.3190834716454416], \"center_light_orientation\": [0.9989904565365157, 0.0, 0.0, 0.044922908954828554]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.702085980235649, 1.1790507794746938, 0.0]}, \"light_radius\": 0.10130135717112129, \"light_length\": 1.9400931470831413, \"light_intensity\": 50000.0, \"light_color_temperature\": 6565.338622202724, \"center_light_postion\": [0.6021442627572124, 0.2693969756736925, 1.3190834716454416], \"center_light_orientation\": [0.9989904565365157, 0.0, 0.0, 0.044922908954828554]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"bark_oak_dark_contrast\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750046, \"blink_pad\": 2, \"appearance_seed\": 16750046, \"blink_offset_steps\": 69, \"source_episode\": \"blinkpad2-9750046\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750052, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1559, 0.5439], \"2\": [-0.1346, 0.3826], \"3\": [-0.1835, 0.2274]}, \"randplace\": [-0.0035, 0.0074, -7.0481], \"handover_result\": null}}"}
+{"episode_index": 46, "tasks": [0], "length": 1, "dataset_from_index": 46, "dataset_to_index": 46, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7796799901671534, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6462676525115967, 0.41657179594039917, 0.012000000104308128], \"quaternion\": [0.49275437126152116, 0.49275437126152105, -0.5071421197284478, -0.5071421197284478]}, \"12\": {\"position\": [-0.36711302399635315, -0.042140133678913116, 0.03657222166657448], \"quaternion\": [0.5840358794694545, 5.0890415059731684e-05, -0.002087577378416916, -0.8117251572565655]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9872436492551382, -0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9872436492551382, -0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9872436492551382, 0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9872436492551382, 0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Stackbond\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7477329706407413, \"metallic_constant\": 0.848170212960505, \"specular_level\": 0.9236952393275423}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2468555885917193, \"metallic_constant\": 0.35799813749589027, \"specular_level\": 0.7618952875569964}, {\"reflection_roughness_constant\": 0.9395043359726337, \"metallic_constant\": 0.28869060778209765, \"specular_level\": 0.32933304866972934}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.2468555885917193, \"metallic_constant\": 0.35799813749589027, \"specular_level\": 0.7618952875569964}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8467277109264394, 0.0008333080652487004, -0.0019147236911923682, -0.5320223895477778]}, \"material\": {\"reflection_roughness_constant\": 0.9395043359726337, \"metallic_constant\": 0.28869060778209765, \"specular_level\": 0.32933304866972934}}, \"distractor_0\": {\"uid\": \"9\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"9\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/009_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1347867095437838, -0.33016699523724, 0.008996803228305851], \"quaternion\": [0.9999962622722316, -0.0025664956238932875, 0.0009363326035267081, -0.00010873378067945767]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9872436492551382, -0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 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0.35266435517208744]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9872436492551382, 0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9872436492551382, 0.6206801392173309, 0.0]}, \"light_radius\": 0.10103024777175737, \"light_length\": 1.064941417738582, \"light_intensity\": 50000.0, \"light_color_temperature\": 7416.897944467124, \"center_light_postion\": [-0.14363423495092587, 0.8329957378217197, 1.467482263774901], \"center_light_orientation\": [0.9357498878391896, 0.0, 0.0, 0.35266435517208744]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750049, \"blink_pad\": 2, \"appearance_seed\": 16750049, \"blink_offset_steps\": 78, \"source_episode\": \"blinkpad2-9750049\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750055, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1528, 0.6025], \"2\": [-0.1315, 0.4412], \"3\": [-0.1804, 0.286]}, \"randplace\": [-0.0004, 0.066, -5.6908], \"handover_result\": null}}"}
+{"episode_index": 47, "tasks": [0], "length": 1, "dataset_from_index": 47, "dataset_to_index": 47, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7779319723397107, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.606372356414795, 0.43433719873428345, 0.012000000104308128], \"quaternion\": [0.11936611871687222, 0.1193661187168721, -0.696958915361924, -0.6969589153619242]}, \"12\": {\"position\": [-0.37587425112724304, -0.03618563711643219, 0.03657222166657448], \"quaternion\": [0.5719998926297973, 2.0094372207572354e-05, -0.0020881008982868154, -0.820251036123914]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2068994066322176, -0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2068994066322176, -0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2068994066322176, 0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2068994066322176, 0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9197314636111922, \"metallic_constant\": 0.4716030699425314, \"specular_level\": 0.6457586786266656}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4018533060774414, \"metallic_constant\": 0.16882695540389403, \"specular_level\": 0.913569163275216}, {\"reflection_roughness_constant\": 0.45742550114396396, \"metallic_constant\": 0.8969747197736353, \"specular_level\": 0.24516782970440731}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.4018533060774414, \"metallic_constant\": 0.16882695540389403, \"specular_level\": 0.913569163275216}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8988240187957492, 0.001033527651298691, -0.0018144943480823718, -0.4383047144016522]}, \"material\": {\"reflection_roughness_constant\": 0.45742550114396396, \"metallic_constant\": 0.8969747197736353, \"specular_level\": 0.24516782970440731}}, \"distractor_0\": {\"uid\": \"8\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"8\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/008_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22861957936862518, 0.5675772734830903, 0.027943414600932928], \"quaternion\": [0.9999987458386448, 0.0005432698341971291, 0.001487599719398305, -1.503657189364449e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"26\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"26\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/026_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.20149049773311384, 0.4141481085238029, 0.028457621187623974], \"quaternion\": [0.9999881333419365, 0.004289425672257478, -0.0023095454076636998, -1.6496092834989288e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"38\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"38\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/038_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2067389555525807, -0.3879022689074404, 0.022120817742994126], \"quaternion\": [0.9983512049299073, 0.003560761102340144, 0.006968032073099255, -0.05686509583569946]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2068994066322176, -0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2068994066322176, -0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2068994066322176, 0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2068994066322176, 0.6121896177311328, 0.0]}, \"light_radius\": 0.09675445899502058, \"light_length\": 0.5139514165558553, \"light_intensity\": 50000.0, \"light_color_temperature\": 7760.501224083857, \"center_light_postion\": [-0.30264282736942805, 0.14301359416190373, 1.4989115542498537], \"center_light_orientation\": [0.8507057978461127, 0.0, 0.0, -0.5256421268420264]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750052, \"blink_pad\": 2, \"appearance_seed\": 16750052, \"blink_offset_steps\": 45, \"source_episode\": \"blinkpad2-9750052\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750058, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1401, 0.4985], \"2\": [-0.1188, 0.3372], \"3\": [-0.1677, 0.182]}, \"randplace\": [0.0123, -0.038, 6.6021], \"handover_result\": null}}"}
+{"episode_index": 48, "tasks": [0], "length": 1, "dataset_from_index": 48, "dataset_to_index": 48, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7175704371404285, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6245839595794678, 0.35276997089385986, 0.012000000104308128], \"quaternion\": [0.591996644713027, 0.5919966447130269, -0.38670398581928034, -0.3867039858192803]}, \"12\": {\"position\": [-0.373833030462265, -0.002628911519423127, 0.03657222166657448], \"quaternion\": [0.5637748310380676, -7.723465931118586e-07, -0.0020881974400673853, -0.8259258921470215]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium_Polished\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2445415278285026, -0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2445415278285026, -0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2445415278285026, 0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2445415278285026, 0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium_Polished\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Soft_Leather.mdl\", \"name\": \"ABS_Soft_Leather\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9981572148992806, \"metallic_constant\": 0.8829015163267405, \"specular_level\": 0.4455325956448889}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.47456200280143257, \"metallic_constant\": 0.582019484474066, \"specular_level\": 0.9477682120413291}, {\"reflection_roughness_constant\": 0.799112924111912, \"metallic_constant\": 0.8376952048413948, \"specular_level\": 0.5614043975050764}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium_Polished\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.47456200280143257, \"metallic_constant\": 0.582019484474066, \"specular_level\": 0.9477682120413291}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9017970561829813, 0.0010458981344330937, -0.0018073921095355134, -0.4321547279511866]}, \"material\": {\"reflection_roughness_constant\": 0.799112924111912, \"metallic_constant\": 0.8376952048413948, \"specular_level\": 0.5614043975050764}}, \"distractor_0\": {\"uid\": \"21\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"21\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/021_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12017695574361956, -0.3175437664623487, 0.028265690629526222], \"quaternion\": [0.9999801632573285, -0.004548559188123117, 0.004357028933328114, 1.804832905633172e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2445415278285026, -0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2445415278285026, -0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2445415278285026, 0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2445415278285026, 0.6739518389254892, 0.0]}, \"light_radius\": 0.08589720620511718, \"light_length\": 1.5757809753650853, \"light_intensity\": 50000.0, \"light_color_temperature\": 7037.363003535688, \"center_light_postion\": [-0.3327858583785892, -0.2501324900186076, 1.4313215257368699], \"center_light_orientation\": [0.8952792802130332, 0.0, 0.0, -0.4455053427527366]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium_Polished\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750055, \"blink_pad\": 2, \"appearance_seed\": 16750055, \"blink_offset_steps\": 98, \"source_episode\": \"blinkpad2-9750055\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750061, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1723, 0.497], \"2\": [-0.151, 0.3357], \"3\": [-0.1999, 0.1805]}, \"randplace\": [-0.0199, -0.0395, 7.3849], \"handover_result\": null}}"}
+{"episode_index": 49, "tasks": [0], "length": 1, "dataset_from_index": 49, "dataset_to_index": 49, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7217869987285036, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6608946323394775, 0.43075668811798096, 0.012000000104308128], \"quaternion\": [0.5071979529153186, 0.5071979529153186, 0.49269690130800536, 0.4926969013080054]}, \"12\": {\"position\": [-0.35556456446647644, 0.047686658799648285, 0.03657222166657448], \"quaternion\": [0.5872324696281892, 5.912262121364778e-05, -0.00208736045303215, -0.8094156324443165]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Faint_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4081444769716196, -1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4081444769716196, 1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Faint_Copper\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Beech.mdl\", \"name\": \"Wood_Tiles_Beech_Versailles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7302957257660524, \"metallic_constant\": 0.13024610724832342, \"specular_level\": 0.2700467685612873}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.840429445174549, \"metallic_constant\": 0.8665783241055995, \"specular_level\": 0.019058786825007057}, {\"reflection_roughness_constant\": 0.6199933622436079, \"metallic_constant\": 0.7536146663902777, \"specular_level\": 0.5906156184959696}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Faint_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.840429445174549, \"metallic_constant\": 0.8665783241055995, \"specular_level\": 0.019058786825007057}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8863751960382009, 0.0009830172573979431, -0.0018423480173082624, -0.4629629048629017]}, \"material\": {\"reflection_roughness_constant\": 0.6199933622436079, \"metallic_constant\": 0.7536146663902777, \"specular_level\": 0.5906156184959696}}, \"distractor_0\": {\"uid\": \"2\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1431084429301095, 0.5013255242763373, 0.05990794499606073], \"quaternion\": [0.9999994862139763, 0.0001379487826685896, -0.0010042618133162982, -3.5710943586164063e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4081444769716196, -1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4081444769716196, -1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4081444769716196, 1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4081444769716196, 1.185140151188749, 0.0]}, \"light_radius\": 0.11262161627711825, \"light_length\": 1.8518236110133783, \"light_intensity\": 50000.0, \"light_color_temperature\": 6129.285798693292, \"center_light_postion\": [-0.6096003055860741, 0.7731809759510258, 1.3799634881178624], \"center_light_orientation\": [0.9577519099072592, 0.0, 0.0, 0.28759568680527403]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Faint_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750058, \"blink_pad\": 2, \"appearance_seed\": 16750058, \"blink_offset_steps\": 55, \"source_episode\": \"blinkpad2-9750058\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750064, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1803, 0.4754], \"2\": [-0.159, 0.3141], \"3\": [-0.2079, 0.1589]}, \"randplace\": [-0.0279, -0.0611, 3.4367], \"handover_result\": null}}"}
+{"episode_index": 50, "tasks": [0], "length": 1, "dataset_from_index": 50, "dataset_to_index": 50, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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\"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Princess_Fire\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750038, \"blink_pad\": 3, \"appearance_seed\": 16750038, \"blink_offset_steps\": 63, \"source_episode\": \"blinkpad3-9750038\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750044, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.153, 0.5979], \"2\": [-0.1317, 0.4366], \"3\": [-0.1806, 0.2814]}, \"randplace\": [-0.0006, 0.0614, -5.5545], \"handover_result\": null}}"}
+{"episode_index": 51, "tasks": [0], "length": 1, "dataset_from_index": 51, "dataset_to_index": 51, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7505768868313116, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.640795946121216, 0.3960875868797302, 0.012000000104308128], \"quaternion\": [0.5189808842674449, 0.5189808842674447, 0.4802695511532884, 0.48026955115328834]}, \"12\": {\"position\": [-0.3596349060535431, -0.013997291214764118, 0.03657222166657448], \"quaternion\": [0.5840658747291152, 5.0967557217024687e-05, -0.0020875754964393423, -0.8117035748398351]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Sheet.mdl\", \"name\": \"Brass_Sheet_Yellow_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.164772344644797, -1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.164772344644797, -1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.164772344644797, 1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.164772344644797, 1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Sheet.mdl\", \"name\": \"Brass_Sheet_Yellow_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8236797761333147, \"metallic_constant\": 0.36869391242413074, \"specular_level\": 0.047674665801063054}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7828843629023968, \"metallic_constant\": 0.4101076917778087, \"specular_level\": 0.2661459518045376}, {\"reflection_roughness_constant\": 0.263596458933255, \"metallic_constant\": 0.0890607125953734, \"specular_level\": 0.6855541300467936}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Sheet.mdl\", \"name\": \"Brass_Sheet_Yellow_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7828843629023968, \"metallic_constant\": 0.4101076917778087, \"specular_level\": 0.2661459518045376}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8966171211751094, 0.0010244252527869706, -0.001819648880051921, -0.4428017360473131]}, \"material\": {\"reflection_roughness_constant\": 0.263596458933255, \"metallic_constant\": 0.0890607125953734, \"specular_level\": 0.6855541300467936}}, \"distractor_0\": {\"uid\": \"27\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"27\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/027_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.19940884967240152, 0.44194123372292027, 0.009931246644303561], \"quaternion\": [0.7498643123457527, 0.1473015205045196, 0.6446390792567795, -0.021124218855622705]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"2\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17498415158698766, 0.5656653025745603, 0.05990794499606073], \"quaternion\": [0.9999994862139763, 0.0001379487826685896, -0.0010042618133162982, -3.5710943586164063e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.164772344644797, -1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.164772344644797, -1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.164772344644797, 1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.164772344644797, 1.1680385420362767, 0.0]}, \"light_radius\": 0.11736240593478628, \"light_length\": 1.5021207962902747, \"light_intensity\": 50000.0, \"light_color_temperature\": 6921.99983627667, \"center_light_postion\": [-0.33006898766189496, 0.3897115469201875, 1.41498349959185], \"center_light_orientation\": [0.9780363228754557, 0.0, 0.0, 0.2084345248183645]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Sheet.mdl\", \"name\": \"Brass_Sheet_Yellow_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750044, \"blink_pad\": 3, \"appearance_seed\": 16750044, \"blink_offset_steps\": 104, \"source_episode\": \"blinkpad3-9750044\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750050, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1625, 0.6022], \"2\": [-0.1413, 0.4409], \"3\": [-0.1901, 0.2857]}, \"randplace\": [-0.0101, 0.0657, 6.0281], \"handover_result\": null}}"}
+{"episode_index": 52, "tasks": [0], "length": 1, "dataset_from_index": 52, "dataset_to_index": 52, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7733053000627604, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.655038833618164, 0.4298378825187683, 0.012000000104308128], \"quaternion\": [0.016074488574866267, 0.016074488574866277, 0.7069240488320203, 0.7069240488320202]}, \"12\": {\"position\": [-0.3620959520339966, 0.013785913586616516, 0.03657222166657448], \"quaternion\": [0.6385954849777719, 0.00019465667979235923, -0.0020791050772469566, -0.7695397624534157]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1349553766386449, -0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1349553766386449, -0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1349553766386449, 0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1349553766386449, 0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Steel_Grey.mdl\", \"name\": \"Steel_Grey_Dust\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4737744149122636, \"metallic_constant\": 0.014776454387242732, \"specular_level\": 0.8184350022307222}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.66732120844205, \"metallic_constant\": 0.6900289131573141, \"specular_level\": 0.471609897626034}, {\"reflection_roughness_constant\": 0.6987213453062354, \"metallic_constant\": 0.7535956795186508, \"specular_level\": 0.3474900957160101}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.66732120844205, \"metallic_constant\": 0.6900289131573141, \"specular_level\": 0.471609897626034}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8537629788092311, 0.0008588254358101295, -0.0019034148302530902, -0.5206576758731628]}, \"material\": {\"reflection_roughness_constant\": 0.6987213453062354, \"metallic_constant\": 0.7535956795186508, \"specular_level\": 0.3474900957160101}}, \"distractor_0\": {\"uid\": \"11\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"11\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/011_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2608262733132426, 0.39288611246702076, 0.022609021155712557], \"quaternion\": [0.6450243245698417, -0.7331382180523544, -0.0829607281333915, 0.198920817240974]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"34\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"34\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/034_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16142221993472394, 0.5178559892676668, 0.011812929771379311], \"quaternion\": [0.4270890316884556, 0.09599325522454391, 0.89907406116765, -0.006788703729120447]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1349553766386449, -0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1349553766386449, -0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1349553766386449, 0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1349553766386449, 0.8111752901776698, 0.0]}, \"light_radius\": 0.10395232302326737, \"light_length\": 0.7291571918622703, \"light_intensity\": 50000.0, \"light_color_temperature\": 6225.935086740202, \"center_light_postion\": [0.3269196148022646, 0.6738504706592234, 1.4355855192368032], \"center_light_orientation\": [0.9643318563006752, 0.0, 0.0, -0.26469618607697004]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750047, \"blink_pad\": 3, \"appearance_seed\": 16750047, \"blink_offset_steps\": 103, \"source_episode\": \"blinkpad3-9750047\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750053, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.157, 0.5121], \"2\": [-0.1357, 0.3507], \"3\": [-0.1846, 0.1955]}, \"randplace\": [-0.0046, -0.0245, -4.1591], \"handover_result\": null}}"}
+{"episode_index": 53, "tasks": [0], "length": 1, "dataset_from_index": 53, "dataset_to_index": 53, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7591814185929041, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.637425184249878, 0.3586204946041107, 0.012000000104308128], \"quaternion\": [0.7007260677356647, 0.7007260677356648, 0.09477857350536933, 0.0947785735053693]}, \"12\": {\"position\": [-0.3888777196407318, -0.04778534546494484, 0.03657222166657448], \"quaternion\": [0.587987135390014, 6.106942298629772e-05, -0.0020873044030039756, -0.8088675837531757]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5022604785034535, -1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], 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0.0, -0.19090164584786312]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5022604785034535, 1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Stainless_Steel.mdl\", \"name\": \"Stainless_Steel_Shiny_Smudged\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7779725371675593, \"metallic_constant\": 0.9928997454529735, \"specular_level\": 0.3680237276430314}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3021257821749278, \"metallic_constant\": 0.6993891610960781, \"specular_level\": 0.16204438793793108}, {\"reflection_roughness_constant\": 0.25302595848109266, \"metallic_constant\": 0.6715440235293177, \"specular_level\": 0.09641147066102329}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.3021257821749278, \"metallic_constant\": 0.6993891610960781, \"specular_level\": 0.16204438793793108}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8787932347627311, 0.0009531759759237925, -0.0018579625141922497, -0.4771981663482277]}, \"material\": {\"reflection_roughness_constant\": 0.25302595848109266, \"metallic_constant\": 0.6715440235293177, \"specular_level\": 0.09641147066102329}}, \"distractor_0\": {\"uid\": \"4\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"4\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/004_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.25061279047657514, 0.3523812168156816, 0.05051090228101861], \"quaternion\": [0.9999996203060304, -0.0007825072406519763, -0.0003827144368070325, 2.449234127980436e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5022604785034535, -1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 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0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5022604785034535, 1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5022604785034535, 1.0929129613933841, 0.0]}, \"light_radius\": 0.11000329871777859, \"light_length\": 0.8234136044727092, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.656395607873, \"center_light_postion\": [0.4642741520821074, 0.34315254984320265, 1.3122381128782985], \"center_light_orientation\": [0.981609169482731, 0.0, 0.0, -0.19090164584786312]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750050, \"blink_pad\": 3, \"appearance_seed\": 16750050, \"blink_offset_steps\": 59, \"source_episode\": \"blinkpad3-9750050\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750056, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1276, 0.5662], \"2\": [-0.1063, 0.4049], \"3\": [-0.1552, 0.2497]}, \"randplace\": [0.0248, 0.0297, 1.5885], \"handover_result\": null}}"}
+{"episode_index": 54, "tasks": [0], "length": 1, "dataset_from_index": 54, "dataset_to_index": 54, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7451641801411396, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6043405532836914, 0.3880603015422821, 0.012000000104308128], \"quaternion\": [0.5212231850426252, 0.5212231850426253, 0.47783510898009685, 0.4778351089800973]}, \"12\": {\"position\": [-0.3618878722190857, 0.08948838710784912, 0.03657222166657448], \"quaternion\": [0.5601586903452312, -9.901445763374825e-06, -0.0020881741083048633, -0.8283826899818527]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Other/Rubber/Tire.mdl\", \"name\": \"Tire_New\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5523439379922555, -0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5523439379922555, -0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5523439379922555, 0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5523439379922555, 0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Other/Rubber/Tire.mdl\", \"name\": \"Tire_New\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Cubes\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.019926293246008808, \"metallic_constant\": 0.9538631159186496, \"specular_level\": 0.7062401178277163}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.38659471168929793, \"metallic_constant\": 0.6437174137364333, \"specular_level\": 0.36428062392418536}, {\"reflection_roughness_constant\": 0.9617090058988472, \"metallic_constant\": 0.7044692806438893, \"specular_level\": 0.7486026625159903}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Other/Rubber/Tire.mdl\", \"name\": \"Tire_New\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.38659471168929793, \"metallic_constant\": 0.6437174137364333, \"specular_level\": 0.36428062392418536}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8985106907208733, 0.0010322312210556345, -0.0018152321756458188, -0.4389466688461757]}, \"material\": {\"reflection_roughness_constant\": 0.9617090058988472, \"metallic_constant\": 0.7044692806438893, \"specular_level\": 0.7486026625159903}}, \"distractor_0\": {\"uid\": \"16\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"16\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/016_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16110716023099214, 0.5111151870799248, 0.036309913685165694], \"quaternion\": [0.9989478917937755, 0.024600813694765338, 0.03870198564373443, 0.0002564245680066577]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5523439379922555, -0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5523439379922555, -0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5523439379922555, 0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5523439379922555, 0.6483489037902151, 0.0]}, \"light_radius\": 0.10110703677829054, \"light_length\": 0.5986722463630705, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.759690189137, \"center_light_postion\": [-0.9599563185529134, -0.048933196858129024, 1.3319796497881036], \"center_light_orientation\": [0.994090039274906, 0.0, 0.0, -0.10855871137046466]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Other/Rubber/Tire.mdl\", \"name\": \"Tire_New\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750053, \"blink_pad\": 3, \"appearance_seed\": 16750053, \"blink_offset_steps\": 39, \"source_episode\": \"blinkpad3-9750053\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750059, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1737, 0.6059], \"2\": [-0.1524, 0.4445], \"3\": [-0.2013, 0.2893]}, \"randplace\": [-0.0213, 0.0693, 6.5203], \"handover_result\": null}}"}
+{"episode_index": 55, "tasks": [0], "length": 1, "dataset_from_index": 55, "dataset_to_index": 55, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6961513273946337, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6428654193878174, 0.4349921941757202, 0.012000000104308128], \"quaternion\": [0.6774989674842226, 0.6774989674842223, 0.2024725884109071, 0.202472588410907]}, \"12\": {\"position\": [-0.3864779472351074, 0.0668952465057373, 0.03657222166657448], \"quaternion\": [0.6532267564476152, 0.00023446788088744353, -0.0020749925199998742, -0.7571594575066624]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Mosaic_Multi_Color_Stone.mdl\", \"name\": \"Mosaic_Multi_Color_Stone_Red\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.462503666615527, -1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.462503666615527, -1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.462503666615527, 1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.462503666615527, 1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plaster/Mosaic_Multi_Color_Stone.mdl\", \"name\": \"Mosaic_Multi_Color_Stone_Red\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Solid.mdl\", \"name\": \"Vintage_Maroon\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8614587686218398, \"metallic_constant\": 0.16068892794897394, \"specular_level\": 0.35536654377132104}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.07125025453308509, \"metallic_constant\": 0.11839867295002937, \"specular_level\": 0.17790761311186154}, {\"reflection_roughness_constant\": 0.2626089616853099, \"metallic_constant\": 0.6976895271440399, \"specular_level\": 0.5075391194556913}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Mosaic_Multi_Color_Stone.mdl\", \"name\": \"Mosaic_Multi_Color_Stone_Red\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.07125025453308509, \"metallic_constant\": 0.11839867295002937, \"specular_level\": 0.17790761311186154}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9042922539069106, 0.0010563797396871215, -0.001801285926997829, 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{\"position\": [0.1440906821894733, 0.4756672849405532, 0.021505665171820256], \"quaternion\": [0.48345669474166975, 0.7266983158646539, 0.14033184369464086, 0.4674250267948856]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"39\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"39\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/039_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15627919555257708, -0.39633831791557284, 0.021314394843131922], \"quaternion\": [0.9998623549342395, 0.015861235749485635, -0.004852539276635337, -0.00038111471468161223]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.462503666615527, -1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.462503666615527, -1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.462503666615527, 1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.462503666615527, 1.2334608800624123, 0.0]}, \"light_radius\": 0.09639413781195971, \"light_length\": 1.048177086202664, \"light_intensity\": 50000.0, \"light_color_temperature\": 6123.061761114396, \"center_light_postion\": [0.5745992203677832, 0.8256753044664704, 1.3215614322102502], \"center_light_orientation\": [0.9749535024444101, 0.0, 0.0, 0.22240878595814845]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Mosaic_Multi_Color_Stone.mdl\", \"name\": \"Mosaic_Multi_Color_Stone_Red\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750065, \"blink_pad\": 3, \"appearance_seed\": 16750065, \"blink_offset_steps\": 64, \"source_episode\": \"blinkpad3-9750065\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750071, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1349, 0.5879], \"2\": [-0.1136, 0.4266], \"3\": [-0.1625, 0.2714]}, \"randplace\": [0.0175, 0.0514, 8.0506], \"handover_result\": null}}"}
+{"episode_index": 56, "tasks": [0], "length": 1, "dataset_from_index": 56, "dataset_to_index": 56, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6990874588177844, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6129167079925537, 0.38738545775413513, 0.012000000104308128], \"quaternion\": [0.5455189615467105, 0.5455189615467109, -0.44989894709034184, -0.4498989470903418]}, \"12\": {\"position\": [-0.36131909489631653, -0.05586690828204155, 0.03657222166657448], \"quaternion\": [0.574550922980442, 2.659545247770084e-05, -0.0020880282151177765, -0.8184661729926144]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Effect_Pigment_Metallic.mdl\", \"name\": \"Effect_Pigment_Metallic\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.106602320830916, -1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.106602320830916, -1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.106602320830916, 1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, \"Light_1_1\": {\"uid\": 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\"data/vMaterials_2/Paint/Carpaint/Effect_Pigment_Metallic.mdl\", \"name\": \"Effect_Pigment_Metallic\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Mosaic\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5845881136132998, \"metallic_constant\": 0.870475080586288, \"specular_level\": 0.3860438680355719}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8510315955219022, \"metallic_constant\": 0.8376355784245016, \"specular_level\": 0.05881330432047138}, {\"reflection_roughness_constant\": 0.8470863451866899, \"metallic_constant\": 0.7415307920335868, \"specular_level\": 0.2800314649071979}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Effect_Pigment_Metallic.mdl\", \"name\": \"Effect_Pigment_Metallic\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8510315955219022, \"metallic_constant\": 0.8376355784245016, \"specular_level\": 0.05881330432047138}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8816051529882081, 0.0009641674550174694, -0.0018522824471194977, -0.4719830438220142]}, \"material\": {\"reflection_roughness_constant\": 0.8470863451866899, \"metallic_constant\": 0.7415307920335868, \"specular_level\": 0.2800314649071979}}, \"distractor_0\": {\"uid\": \"34\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"34\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/034_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12502931446373428, 0.4632819557342993, 0.011812929771379311], \"quaternion\": [0.4270890316884556, 0.09599325522454391, 0.89907406116765, -0.006788703729120447]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"33\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"33\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/033_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2945700807650402, 0.41670786145442884, 0.0687980233730462], \"quaternion\": [0.9941293843629091, -0.09747153794406391, 0.046958537543351844, 0.0009809122444865183]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.106602320830916, -1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.106602320830916, -1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.106602320830916, 1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.106602320830916, 1.1542942318894314, 0.0]}, \"light_radius\": 0.08851485140398964, \"light_length\": 1.0039327570081595, \"light_intensity\": 50000.0, \"light_color_temperature\": 6539.157308966898, \"center_light_postion\": [0.30801098547427674, 0.742504382352857, 1.3425412465324023], \"center_light_orientation\": [0.9838259715741894, 0.0, 0.0, 0.1791269316884045]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Effect_Pigment_Metallic.mdl\", \"name\": \"Effect_Pigment_Metallic\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750068, \"blink_pad\": 3, \"appearance_seed\": 16750068, \"blink_offset_steps\": 69, \"source_episode\": \"blinkpad3-9750068\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750074, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1375, 0.5713], \"2\": [-0.1162, 0.41], \"3\": [-0.1651, 0.2548]}, \"randplace\": [0.0149, 0.0348, 2.2674], \"handover_result\": null}}"}
+{"episode_index": 57, "tasks": [0], "length": 1, "dataset_from_index": 57, "dataset_to_index": 57, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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[0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Pure_Steel\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], 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\"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Pure_Steel\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Antique_Brushed.mdl\", \"name\": \"Copper_Antique_Brushed_Worn_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7940025748985282, \"metallic_constant\": 0.9882756937968543, \"specular_level\": 0.8249587042075814}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7810627826981051, \"metallic_constant\": 0.11688767144914824, \"specular_level\": 0.15420981056861038}, {\"reflection_roughness_constant\": 0.7765998361542638, \"metallic_constant\": 0.5822884093763642, \"specular_level\": 0.9038925271798042}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": 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[0.13855015180319724, 0.5397335412035508, 0.009931246644303561], \"quaternion\": [0.7498643123457527, 0.1473015205045196, 0.6446390792567795, -0.021124218855622705]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"7\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"7\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/007_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.13327322408246092, 0.322135156555422, 0.03990936168085146], \"quaternion\": [0.9999989808972521, -0.0005831411503792082, -0.0012943987296028892, -0.00015060804949770196]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.049883840125215, -0.6536298026452059, 0.0]}, \"light_radius\": 0.11062057422489927, \"light_length\": 1.4643905307442338, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.351826134208, \"center_light_postion\": [-0.1482380091004335, 0.22014108725241432, 1.4504089024432953], \"center_light_orientation\": [0.9993984939010534, 0.0, 0.0, 0.03467925011164539]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6536298026452059, 0.0]}, \"light_radius\": 0.11062057422489927, \"light_length\": 1.4643905307442338, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.351826134208, \"center_light_postion\": [-0.1482380091004335, 0.22014108725241432, 1.4504089024432953], \"center_light_orientation\": [0.9993984939010534, 0.0, 0.0, 0.03467925011164539]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.049883840125215, -0.6536298026452059, 0.0]}, \"light_radius\": 0.11062057422489927, \"light_length\": 1.4643905307442338, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.351826134208, \"center_light_postion\": [-0.1482380091004335, 0.22014108725241432, 1.4504089024432953], \"center_light_orientation\": [0.9993984939010534, 0.0, 0.0, 0.03467925011164539]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.049883840125215, 0.6536298026452059, 0.0]}, \"light_radius\": 0.11062057422489927, \"light_length\": 1.4643905307442338, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.351826134208, \"center_light_postion\": [-0.1482380091004335, 0.22014108725241432, 1.4504089024432953], \"center_light_orientation\": [0.9993984939010534, 0.0, 0.0, 0.03467925011164539]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6536298026452059, 0.0]}, \"light_radius\": 0.11062057422489927, \"light_length\": 1.4643905307442338, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.351826134208, \"center_light_postion\": [-0.1482380091004335, 0.22014108725241432, 1.4504089024432953], \"center_light_orientation\": [0.9993984939010534, 0.0, 0.0, 0.03467925011164539]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.049883840125215, 0.6536298026452059, 0.0]}, \"light_radius\": 0.11062057422489927, \"light_length\": 1.4643905307442338, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.351826134208, \"center_light_postion\": [-0.1482380091004335, 0.22014108725241432, 1.4504089024432953], \"center_light_orientation\": [0.9993984939010534, 0.0, 0.0, 0.03467925011164539]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Pure_Steel\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750071, \"blink_pad\": 3, \"appearance_seed\": 16750071, \"blink_offset_steps\": 104, \"source_episode\": \"blinkpad3-9750071\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750077, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.131, 0.5605], \"2\": [-0.1097, 0.3992], \"3\": [-0.1586, 0.244]}, \"randplace\": [0.0214, 0.024, 6.9772], \"handover_result\": null}}"}
+{"episode_index": 58, "tasks": [0], "length": 1, "dataset_from_index": 58, "dataset_to_index": 58, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7299463136705913, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6897103786468506, 0.3896775245666504, 0.012000000104308128], \"quaternion\": [0.6313270256140302, 0.63132702561403, 0.3184747819362497, 0.3184747819362497]}, \"12\": {\"position\": [-0.36573538184165955, 0.05944528430700302, 0.03657222166657448], \"quaternion\": [0.5566172843691664, -1.881560990020401e-05, -0.0020881128125764814, -0.8307664161317244]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Scratched.mdl\", \"name\": \"Aluminum_Scratched_Dirty_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9776785859958688, -0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9776785859958688, -0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9776785859958688, 0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9776785859958688, 0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Scratched.mdl\", \"name\": \"Aluminum_Scratched_Dirty_Rough\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Foil.mdl\", \"name\": \"Zinc_Foil_Smudged_Foil\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7285745487709779, \"metallic_constant\": 0.3400276588209128, \"specular_level\": 0.7410700934870771}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2502095705735806, \"metallic_constant\": 0.23502961352335583, \"specular_level\": 0.9362153220724921}, {\"reflection_roughness_constant\": 0.6316162689567812, \"metallic_constant\": 0.1704310020619053, \"specular_level\": 0.3035021292653528}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Scratched.mdl\", \"name\": \"Aluminum_Scratched_Dirty_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.2502095705735806, \"metallic_constant\": 0.23502961352335583, \"specular_level\": 0.9362153220724921}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8389002050137144, 0.0008053714268184916, -0.0019266411212486372, -0.5442812558400325]}, \"material\": {\"reflection_roughness_constant\": 0.6316162689567812, \"metallic_constant\": 0.1704310020619053, \"specular_level\": 0.3035021292653528}}, \"distractor_0\": {\"uid\": \"20\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"20\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/020_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.21576826396740534, 0.5044312640835122, 0.021505665171820256], \"quaternion\": [0.48345669474166975, 0.7266983158646539, 0.14033184369464086, 0.4674250267948856]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"23\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"23\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/023_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22000252838588735, 0.35619505293256915, 0.033275923321799954], \"quaternion\": [0.9996271452011355, 0.023150253503286082, -0.014474383013396321, -0.0003585751546958033]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9776785859958688, -0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9776785859958688, -0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9776785859958688, 0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9776785859958688, 0.5263527808124608, 0.0]}, \"light_radius\": 0.08275640296051148, \"light_length\": 1.0426087319282986, \"light_intensity\": 50000.0, \"light_color_temperature\": 6668.936361814028, \"center_light_postion\": [0.26652667134643404, 1.0515561703786487, 1.3100520656471721], \"center_light_orientation\": [0.986554731318807, 0.0, 0.0, 0.16343121523282095]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Scratched.mdl\", \"name\": \"Aluminum_Scratched_Dirty_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750074, \"blink_pad\": 3, \"appearance_seed\": 16750074, \"blink_offset_steps\": 103, \"source_episode\": \"blinkpad3-9750074\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750080, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1495, 0.5756], \"2\": [-0.1282, 0.4143], \"3\": [-0.1771, 0.2591]}, \"randplace\": [0.0029, 0.0391, -7.3575], \"handover_result\": null}}"}
+{"episode_index": 59, "tasks": [0], "length": 1, "dataset_from_index": 59, "dataset_to_index": 59, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7677846353681299, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6840312480926514, 0.4150516092777252, 0.012000000104308128], \"quaternion\": [0.6553946876999959, 0.6553946876999959, -0.26543888813552663, -0.26543888813552674]}, \"12\": {\"position\": [-0.3611257076263428, -0.0472700335085392, 0.03657222166657448], \"quaternion\": [0.6346043717443586, 0.00018389418257096815, -0.0020800846316527677, -0.7728343488703145]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Walnut.mdl\", \"name\": \"Wood_Tiles_Walnut_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9631651714140188, -0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9631651714140188, -0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9631651714140188, 0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9631651714140188, 0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Walnut.mdl\", \"name\": \"Wood_Tiles_Walnut_Stackbond\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ground/Cobblestone_Big_and_Loose.mdl\", \"name\": \"Cobblestone_Big_and_Loose_Wet_Grout\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5080416779244542, \"metallic_constant\": 0.3027771820730484, \"specular_level\": 0.4068730046170661}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8902135413277156, \"metallic_constant\": 0.009332297006646062, \"specular_level\": 0.7010728626662467}, {\"reflection_roughness_constant\": 0.7833144319760355, \"metallic_constant\": 0.8819915151815725, \"specular_level\": 0.5012883971484916}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Walnut.mdl\", \"name\": \"Wood_Tiles_Walnut_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8902135413277156, \"metallic_constant\": 0.009332297006646062, \"specular_level\": 0.7010728626662467}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8383828836483511, 0.0008035411941445696, -0.0019274051713468496, -0.5450777741169883]}, \"material\": {\"reflection_roughness_constant\": 0.7833144319760355, \"metallic_constant\": 0.8819915151815725, \"specular_level\": 0.5012883971484916}}, \"distractor_0\": {\"uid\": \"32\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"32\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/032_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16455483956919903, 0.5959417623291525, 0.03547447337309289], \"quaternion\": [0.9999710765451979, -0.004628849193922666, 0.006034668343965854, -5.105052736919188e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"22\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"22\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/022_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1711446756239808, 0.32770971087000056, 0.03445683785999195], \"quaternion\": [0.9985337470922516, -0.019782695549429255, -0.050387473467805984, -0.00032154663275177944]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9631651714140188, -0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9631651714140188, -0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9631651714140188, 0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9631651714140188, 0.5174051098982517, 0.0]}, \"light_radius\": 0.09202412918897132, \"light_length\": 0.9997852358169286, \"light_intensity\": 50000.0, \"light_color_temperature\": 6751.615820052641, \"center_light_postion\": [-0.1997099875824675, -0.044039742938775106, 1.4957743383220372], \"center_light_orientation\": [0.9847875389573849, 0.0, 0.0, 0.1737627782761808]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Walnut.mdl\", \"name\": \"Wood_Tiles_Walnut_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750077, \"blink_pad\": 3, \"appearance_seed\": 16750077, \"blink_offset_steps\": 53, \"source_episode\": \"blinkpad3-9750077\", \"variant\": \"touch\", \"dr_level\": 1, \"level_seed\": 18750083, \"level\": \"touch-L1\", \"pads\": {\"1\": [-0.1242, 0.4826], \"2\": [-0.103, 0.3213], \"3\": [-0.1518, 0.1661]}, \"randplace\": [0.0282, -0.0539, -7.4664], \"handover_result\": null}}"}
+{"episode_index": 60, "tasks": [0], "length": 1, "dataset_from_index": 60, "dataset_to_index": 60, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7585511962249976, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6595821380615234, 0.3776228725910187, 0.012000000104308128], \"quaternion\": [0.49320082976041146, 0.4932008297604117, -0.5067079449975512, -0.5067079449975516]}, \"12\": {\"position\": [-0.3587173819541931, 0.019831348210573196, 0.03657222166657448], \"quaternion\": [0.541557472488434, -5.643791726040868e-05, -0.0020874347670566396, -0.8406611347164764]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Scuffs_and_Grime\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.187751958995184, -0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.187751958995184, -0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.187751958995184, 0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.187751958995184, 0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Scuffs_and_Grime\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Sheet.mdl\", \"name\": \"Brass_Sheet_Yellow_Splotchy_Streaks\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8127106494687881, \"metallic_constant\": 0.9677357831589792, \"specular_level\": 0.35830738434102816}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8463319929807958, \"metallic_constant\": 0.6118937183347339, \"specular_level\": 0.44480031353177385}, {\"reflection_roughness_constant\": 0.8587843716189101, \"metallic_constant\": 0.5695636250782887, \"specular_level\": 0.8395107302913835}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Scuffs_and_Grime\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8463319929807958, \"metallic_constant\": 0.6118937183347339, \"specular_level\": 0.44480031353177385}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8369819552862344, 0.0007985945946553796, -0.0019294599810851401, -0.5472265033385052]}, \"material\": {\"reflection_roughness_constant\": 0.8587843716189101, \"metallic_constant\": 0.5695636250782887, \"specular_level\": 0.8395107302913835}}, \"distractor_0\": {\"uid\": \"22\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"22\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/022_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2831264516464823, 0.341739109748165, 0.03445683785999195], \"quaternion\": [0.9985337470922516, -0.019782695549429255, -0.050387473467805984, -0.00032154663275177944]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"33\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"33\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/033_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15953687213693338, 0.515686366253917, 0.0687980233730462], \"quaternion\": [0.9941293843629091, -0.09747153794406391, 0.046958537543351844, 0.0009809122444865183]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.187751958995184, -0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.187751958995184, -0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.187751958995184, 0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.187751958995184, 0.7775631728605312, 0.0]}, \"light_radius\": 0.09292184644258604, \"light_length\": 0.7292129892096793, \"light_intensity\": 50000.0, \"light_color_temperature\": 6591.81537788308, \"center_light_postion\": [-0.9154497552012647, 0.5252519626641334, 1.4697220980135333], \"center_light_orientation\": [0.7859883722990672, 0.0, 0.0, -0.6182412786369598]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Scuffs_and_Grime\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750075, \"blink_pad\": 1, \"appearance_seed\": 16750075, \"blink_offset_steps\": 27, \"source_episode\": \"blinkpad1-9750075\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750084, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1771, 0.5737], \"2\": [-0.1558, 0.4124], \"3\": [-0.2047, 0.2572]}, \"randplace\": [-0.0247, 0.0372, -7.7603], \"handover_result\": null}}"}
+{"episode_index": 61, "tasks": [0], "length": 1, "dataset_from_index": 61, "dataset_to_index": 61, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7495798920597242, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6568450927734375, 0.4128724932670593, 0.012000000104308128], \"quaternion\": [0.7065837528292388, 0.7065837528292385, 0.027191914933477834, 0.02719191493347781]}, \"12\": {\"position\": [-0.366524875164032, -0.020105931907892227, 0.03657222166657448], \"quaternion\": [0.6482834092048565, 0.00022095362811985016, -0.00207647505148556, -0.7613962573985918]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Clear.mdl\", \"name\": \"Polypropylene_Clear\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4004954409860173, -0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4004954409860173, -0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4004954409860173, 0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4004954409860173, 0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Clear.mdl\", \"name\": \"Polypropylene_Clear\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Versailles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9570500606137424, \"metallic_constant\": 0.840205331861423, \"specular_level\": 0.9655755278074017}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.569000058815466, \"metallic_constant\": 0.3601768937709515, \"specular_level\": 0.470351635429787}, {\"reflection_roughness_constant\": 0.48829895226478315, \"metallic_constant\": 0.9320650805211838, \"specular_level\": 0.4379125262156415}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Clear.mdl\", \"name\": \"Polypropylene_Clear\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.569000058815466, \"metallic_constant\": 0.3601768937709515, \"specular_level\": 0.470351635429787}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9046274883413088, 0.0010577950695776026, -0.0018004551469001314, -0.4261980135666408]}, \"material\": {\"reflection_roughness_constant\": 0.48829895226478315, \"metallic_constant\": 0.9320650805211838, \"specular_level\": 0.4379125262156415}}, \"distractor_0\": {\"uid\": \"32\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"32\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/032_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2708813186464998, 0.5592696086967344, 0.03547447337309289], \"quaternion\": [0.9999710765451979, -0.004628849193922666, 0.006034668343965854, -5.105052736919188e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"22\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"22\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/022_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14415106716718634, 0.5892021223192447, 0.03445683785999195], \"quaternion\": [0.9985337470922516, -0.019782695549429255, -0.050387473467805984, -0.00032154663275177944]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4004954409860173, -0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4004954409860173, -0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4004954409860173, 0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4004954409860173, 0.8626379093482688, 0.0]}, \"light_radius\": 0.0940402136586536, \"light_length\": 1.7975480666781518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7523.916393604655, \"center_light_postion\": [-0.5564662174689595, 0.011955968333498213, 1.4516076396249062], \"center_light_orientation\": [0.9620822346711585, 0.0, 0.0, 0.2727595529585534]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Clear.mdl\", \"name\": \"Polypropylene_Clear\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750078, \"blink_pad\": 1, \"appearance_seed\": 16750078, \"blink_offset_steps\": 33, \"source_episode\": \"blinkpad1-9750078\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750087, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1311, 0.6021], \"2\": [-0.1098, 0.4408], \"3\": [-0.1587, 0.2856]}, \"randplace\": [0.0213, 0.0656, 8.1406], \"handover_result\": null}}"}
+{"episode_index": 62, "tasks": [0], "length": 1, "dataset_from_index": 62, "dataset_to_index": 62, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6986732847053855, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.681363582611084, 0.3941841125488281, 0.012000000104308128], \"quaternion\": [0.7068157935109939, 0.7068157935109938, 0.020283836999544835, 0.02028383699954493]}, \"12\": {\"position\": [-0.3794950246810913, -0.034782011061906815, 0.03657222166657448], \"quaternion\": [0.6132874760535294, 0.00012708685309643098, -0.00208432676828596, -0.7898570194324707]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Glazing_Tinted.mdl\", \"name\": \"Glass_Glazing_Tinted_Medium_Gray\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6671123792601235, -0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6671123792601235, -0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6671123792601235, 0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6671123792601235, 0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Glazing_Tinted.mdl\", \"name\": \"Glass_Glazing_Tinted_Medium_Gray\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Red_Matte_Wrinkled\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6174730848373657, \"metallic_constant\": 0.9830903495540064, \"specular_level\": 0.9215005134753549}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3054950653520421, \"metallic_constant\": 0.2388177274065364, \"specular_level\": 0.44105899971774254}, {\"reflection_roughness_constant\": 0.17021524875396898, \"metallic_constant\": 0.9299893434796737, \"specular_level\": 0.237480433944677}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Glazing_Tinted.mdl\", \"name\": \"Glass_Glazing_Tinted_Medium_Gray\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.3054950653520421, \"metallic_constant\": 0.2388177274065364, \"specular_level\": 0.44105899971774254}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9050090571782387, 0.0010594081004288436, -0.0017995064940054004, -0.42538717171091434]}, \"material\": {\"reflection_roughness_constant\": 0.17021524875396898, \"metallic_constant\": 0.9299893434796737, \"specular_level\": 0.237480433944677}}, \"distractor_0\": {\"uid\": \"24\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"24\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/024_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2319821033244422, 0.53505421901481, 0.04193076079166724], \"quaternion\": [0.8952658524852201, 0.4400553568540693, -0.048554449326103505, -0.04992796539604567]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"21\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"21\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/021_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17006728902840806, 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\"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6671123792601235, -0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6671123792601235, 0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6671123792601235, 0.8229684525049237, 0.0]}, \"light_radius\": 0.08720720055712404, \"light_length\": 1.0206958353390658, \"light_intensity\": 50000.0, \"light_color_temperature\": 6593.990952504562, \"center_light_postion\": [-0.4512299020038065, 0.9125999059159784, 1.4517420866528634], \"center_light_orientation\": [0.8439991672477392, 0.0, 0.0, 0.5363444841565194]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Glazing_Tinted.mdl\", \"name\": \"Glass_Glazing_Tinted_Medium_Gray\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750081, \"blink_pad\": 1, \"appearance_seed\": 16750081, \"blink_offset_steps\": 79, \"source_episode\": \"blinkpad1-9750081\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750090, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1427, 0.4925], \"2\": [-0.1214, 0.3311], \"3\": [-0.1703, 0.1759]}, \"randplace\": [0.0097, -0.0441, 8.2433], \"handover_result\": null}}"}
+{"episode_index": 63, "tasks": [0], "length": 1, "dataset_from_index": 63, "dataset_to_index": 63, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7124404537336135, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6716721057891846, 0.3840045928955078, 0.012000000104308128], \"quaternion\": [0.7069073775791592, 0.7069073775791588, -0.016791650429794025, -0.01679165042979392]}, \"12\": {\"position\": [-0.3504192531108856, -0.05518871173262596, 0.03657222166657448], \"quaternion\": [0.6088712187940427, 0.00011545615204873085, -0.0020850033626290676, -0.7932663350698244]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Yellow_Heavy_Wrinkles\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.830018786626944, -1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.830018786626944, -1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.830018786626944, 1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.830018786626944, 1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Yellow_Heavy_Wrinkles\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square_Brick.mdl\", \"name\": \"Ceramic_Tiles_Square_Brick_Black_Matte_Rough\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8483831067541059, \"metallic_constant\": 0.658853222644495, \"specular_level\": 0.2803382032507118}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5899477026183763, \"metallic_constant\": 0.6552851512559567, \"specular_level\": 0.9203561163858064}, {\"reflection_roughness_constant\": 0.09350122746227696, \"metallic_constant\": 0.12889823478751672, \"specular_level\": 0.6848417125425089}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Yellow_Heavy_Wrinkles\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.5899477026183763, \"metallic_constant\": 0.6552851512559567, \"specular_level\": 0.9203561163858064}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8978997443864383, 0.0010297072886169664, -0.0018166650888347458, -0.4401950572889523]}, \"material\": {\"reflection_roughness_constant\": 0.09350122746227696, \"metallic_constant\": 0.12889823478751672, \"specular_level\": 0.6848417125425089}}, \"distractor_0\": {\"uid\": \"36\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"36\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/036_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.19816435751969116, -0.3728446706838898, 0.02357494652633171], \"quaternion\": [0.9927169326793728, 0.053684131630134746, -0.060643713479939985, -0.08918209236242093]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"37\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"37\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/037_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.29677734080543716, 0.5908654525208387, 0.023384398453904987], \"quaternion\": [0.9997816021807305, 0.0032060180730348127, 0.020650865775346763, -0.00010550723377541556]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"16\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"16\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/016_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.12494490907364769, 0.2658074547420024, 0.036309913685165694], \"quaternion\": [0.9989478917937755, 0.024600813694765338, 0.03870198564373443, 0.0002564245680066577]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.830018786626944, -1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.830018786626944, -1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.830018786626944, 1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.830018786626944, 1.1515416968991259, 0.0]}, \"light_radius\": 0.1144058091344721, \"light_length\": 1.0354536190103176, \"light_intensity\": 50000.0, \"light_color_temperature\": 7095.837716212605, \"center_light_postion\": [-0.40318210922930087, -0.42973549675104505, 1.342276044593524], \"center_light_orientation\": [0.78435275421862, 0.0, 0.0, 0.620315046528508]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Yellow_Heavy_Wrinkles\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750084, \"blink_pad\": 1, \"appearance_seed\": 16750084, \"blink_offset_steps\": 95, \"source_episode\": \"blinkpad1-9750084\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750093, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.149, 0.5054], \"2\": [-0.1278, 0.3441], \"3\": [-0.1766, 0.1889]}, \"randplace\": [0.0034, -0.0311, 6.361], \"handover_result\": null}}"}
+{"episode_index": 64, "tasks": [0], "length": 1, "dataset_from_index": 64, "dataset_to_index": 64, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.738959584234419, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6565473079681396, 0.4375591278076172, 0.012000000104308128], \"quaternion\": [0.49783707546948835, 0.49783707546948847, 0.5021536082594518, 0.5021536082594519]}, \"12\": {\"position\": [-0.3679502308368683, 0.05017765983939171, 0.03657222166657448], \"quaternion\": [0.634289440406876, 0.00018304667098170086, -0.002080159383668345, -0.7730928438545955]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Colored.mdl\", \"name\": \"Glass_Clear_Saturated_Yellow\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0745498307539023, -0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0745498307539023, -0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0745498307539023, 0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0745498307539023, 0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Colored.mdl\", \"name\": \"Glass_Clear_Saturated_Yellow\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_New_Stained\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.980506387345333, \"metallic_constant\": 0.9107811168545022, \"specular_level\": 0.883754543439449}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6432822237334301, \"metallic_constant\": 0.9223361961964369, \"specular_level\": 0.43089840910162513}, {\"reflection_roughness_constant\": 0.8310706083650387, \"metallic_constant\": 0.30060871156076885, \"specular_level\": 0.2420297937002549}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Colored.mdl\", \"name\": \"Glass_Clear_Saturated_Yellow\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.6432822237334301, \"metallic_constant\": 0.9223361961964369, \"specular_level\": 0.43089840910162513}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8368595905537903, 0.0007981632039704694, -0.0019296384752200229, -0.5474136143073149]}, \"material\": {\"reflection_roughness_constant\": 0.8310706083650387, \"metallic_constant\": 0.30060871156076885, \"specular_level\": 0.2420297937002549}}, \"distractor_0\": {\"uid\": \"7\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"7\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/007_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2040439423274666, 0.5598658621122907, 0.03990936168085146], \"quaternion\": [0.9999989808972521, -0.0005831411503792082, -0.0012943987296028892, -0.00015060804949770196]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"23\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"23\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/023_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2654830023723878, -0.36918746277101944, 0.033275923321799954], \"quaternion\": [0.9996271452011355, 0.023150253503286082, -0.014474383013396321, -0.0003585751546958033]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"34\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"34\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/034_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.19700546240859887, 0.3404341753865777, 0.011812929771379311], \"quaternion\": [0.4270890316884556, 0.09599325522454391, 0.89907406116765, -0.006788703729120447]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0745498307539023, -0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0745498307539023, -0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0745498307539023, 0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0745498307539023, 0.9330436809395428, 0.0]}, \"light_radius\": 0.0959892341251509, \"light_length\": 0.8686772017784253, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.670907129124, \"center_light_postion\": [-0.5614595979204694, 0.7930786117984074, 1.3494086288483305], \"center_light_orientation\": [0.9958116263292225, 0.0, 0.0, -0.09142868733362032]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Colored.mdl\", \"name\": \"Glass_Clear_Saturated_Yellow\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750087, \"blink_pad\": 1, \"appearance_seed\": 16750087, \"blink_offset_steps\": 46, \"source_episode\": \"blinkpad1-9750087\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750096, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1392, 0.5035], \"2\": [-0.1179, 0.3422], \"3\": [-0.1668, 0.187]}, \"randplace\": [0.0132, -0.033, -7.7859], \"handover_result\": null}}"}
+{"episode_index": 65, "tasks": [0], "length": 1, "dataset_from_index": 65, "dataset_to_index": 65, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7118582071382576, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6219656467437744, 0.44682925939559937, 0.012000000104308128], \"quaternion\": [0.6913426356812012, 0.6913426356812011, -0.1484767998354286, -0.14847679983542866]}, \"12\": {\"position\": [-0.3667837381362915, -0.06773306429386139, 0.03657222166657448], \"quaternion\": [0.5668963373807605, 7.130003958190479e-06, -0.0020881854104137787, -0.823786490600042]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Lavender\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2040449608874673, -0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2040449608874673, -0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2040449608874673, 0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2040449608874673, 0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Lavender\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl\", \"name\": \"Ceramic_Tiles_Diamond_White_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8387970755454014, \"metallic_constant\": 0.16227870796501231, \"specular_level\": 0.7537305437452159}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.0028258048968867744, \"metallic_constant\": 0.4654588880536562, \"specular_level\": 0.8921136175678167}, {\"reflection_roughness_constant\": 0.8704254776812905, \"metallic_constant\": 0.9586969415333889, \"specular_level\": 0.4675745144948691}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Lavender\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.0028258048968867744, \"metallic_constant\": 0.4654588880536562, \"specular_level\": 0.8921136175678167}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8806115493587441, 0.0009602735975934418, -0.0018543041182575225, -0.47383429441825686]}, \"material\": {\"reflection_roughness_constant\": 0.8704254776812905, \"metallic_constant\": 0.9586969415333889, \"specular_level\": 0.4675745144948691}}, \"distractor_0\": {\"uid\": \"35\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"35\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/035_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16664473996682305, 0.5729174028386034, 0.02203180799585341], \"quaternion\": [0.9969128731696079, 0.07507026920778502, 0.023003683134631765, 9.247718930837902e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2040449608874673, -0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2040449608874673, -0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2040449608874673, 0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2040449608874673, 0.7805782422440718, 0.0]}, \"light_radius\": 0.11978196974621445, \"light_length\": 0.7988417650901382, \"light_intensity\": 50000.0, \"light_color_temperature\": 7006.576118032947, \"center_light_postion\": [0.7799952365587568, -0.571595389556109, 1.3971965333048615], \"center_light_orientation\": [0.9832271274075579, 0.0, 0.0, -0.1823853500966616]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Lavender\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750090, \"blink_pad\": 1, \"appearance_seed\": 16750090, \"blink_offset_steps\": 34, \"source_episode\": \"blinkpad1-9750090\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750099, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1335, 0.5211], \"2\": [-0.1123, 0.3598], \"3\": [-0.1611, 0.2046]}, \"randplace\": [0.0189, -0.0154, 2.0267], \"handover_result\": null}}"}
+{"episode_index": 66, "tasks": [0], "length": 1, "dataset_from_index": 66, "dataset_to_index": 66, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7052694748860635, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6728644371032715, 0.44582995772361755, 0.012000000104308128], \"quaternion\": [0.5486644011260394, 0.5486644011260392, -0.4460575915024929, -0.4460575915024928]}, \"12\": {\"position\": [-0.3813537359237671, 0.0007764312904328108, 0.03657222166657448], \"quaternion\": [0.5815484520501623, 4.4500100801141154e-05, -0.002087723373977113, -0.8135090886701354]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Twill.mdl\", \"name\": \"Polyester_Twill_Beige\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5438549656111942, -1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5438549656111942, -1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5438549656111942, 1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5438549656111942, 1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Twill.mdl\", \"name\": \"Polyester_Twill_Beige\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Granite_Polished.mdl\", \"name\": \"tiger_skin_gold\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7614127279614419, \"metallic_constant\": 0.8072966015767298, \"specular_level\": 0.9762468019974562}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8186353127992444, \"metallic_constant\": 0.9586768142785633, \"specular_level\": 0.1883463944446514}, {\"reflection_roughness_constant\": 0.36429381025803553, \"metallic_constant\": 0.3411664573526999, \"specular_level\": 0.24680225559823155}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Twill.mdl\", \"name\": \"Polyester_Twill_Beige\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, 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0.3411664573526999, \"specular_level\": 0.24680225559823155}}, \"distractor_0\": {\"uid\": \"4\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"4\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/004_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2593255967197742, 0.5105907365202794, 0.05051090228101861], \"quaternion\": [0.9999996203060304, -0.0007825072406519763, -0.0003827144368070325, 2.449234127980436e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5438549656111942, -1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 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{\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5438549656111942, 1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5438549656111942, 1.2444016736507186, 0.0]}, \"light_radius\": 0.08086252552090877, \"light_length\": 1.1410698759814593, \"light_intensity\": 50000.0, \"light_color_temperature\": 6143.297080033381, \"center_light_postion\": [0.9771645970410052, -0.6327781745432111, 1.3560038797239309], \"center_light_orientation\": [0.857519253064421, 0.0, 0.0, 0.5144518739628009]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Twill.mdl\", \"name\": \"Polyester_Twill_Beige\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750093, \"blink_pad\": 1, \"appearance_seed\": 16750093, \"blink_offset_steps\": 90, \"source_episode\": \"blinkpad1-9750093\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750102, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1512, 0.5217], \"2\": [-0.1299, 0.3604], \"3\": [-0.1788, 0.2052]}, \"randplace\": [0.0012, -0.0148, 7.8134], \"handover_result\": null}}"}
+{"episode_index": 67, "tasks": [0], "length": 1, "dataset_from_index": 67, "dataset_to_index": 67, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.694436340561834, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6832435131073, 0.36363333463668823, 0.012000000104308128], \"quaternion\": [0.6939114662013167, 0.6939114662013165, 0.13596645569528898, 0.13596645569528898]}, \"12\": {\"position\": [-0.3618102967739105, 0.05749259516596794, 0.03657222166657448], \"quaternion\": [0.6318461236304251, 0.00017648003306425293, -0.0020807267824373143, -0.7750910369008667]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0469070859780256, -0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0469070859780256, -0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0469070859780256, 0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0469070859780256, 0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Foil.mdl\", \"name\": \"Gold_Foil_Heavy_Glossy_Wrinkles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8619429090140434, \"metallic_constant\": 0.5121048401087266, \"specular_level\": 0.4031301031565092}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9266690899812208, \"metallic_constant\": 0.7616197938251712, \"specular_level\": 0.5354975237842136}, {\"reflection_roughness_constant\": 0.6861387617201032, \"metallic_constant\": 0.793072657314141, \"specular_level\": 0.558860040504977}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9266690899812208, \"metallic_constant\": 0.7616197938251712, \"specular_level\": 0.5354975237842136}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8425515124431215, 0.0008183454953070987, -0.0019211662592114296, -0.5386117231463344]}, \"material\": {\"reflection_roughness_constant\": 0.6861387617201032, \"metallic_constant\": 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0.4400553568540693, -0.048554449326103505, -0.04992796539604567]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"38\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"38\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/038_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14536911781294407, 0.10558342145785693, 0.022120817742994126], \"quaternion\": [0.9983512049299073, 0.003560761102340144, 0.006968032073099255, -0.05686509583569946]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0469070859780256, -0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0469070859780256, -0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0469070859780256, 0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0469070859780256, 0.9232728411250569, 0.0]}, \"light_radius\": 0.09808496987873946, \"light_length\": 1.045157135254577, \"light_intensity\": 50000.0, \"light_color_temperature\": 6782.970919521564, \"center_light_postion\": [0.5925973090997332, -1.0760532858476415, 1.4861682584986675], \"center_light_orientation\": [0.9977500603344254, 0.0, 0.0, 0.06704339715923185]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750096, \"blink_pad\": 1, \"appearance_seed\": 16750096, \"blink_offset_steps\": 89, \"source_episode\": \"blinkpad1-9750096\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750105, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1608, 0.4578], \"2\": [-0.1396, 0.2965], \"3\": [-0.1884, 0.1413]}, \"randplace\": [-0.0084, -0.0787, -6.5848], \"handover_result\": null}}"}
+{"episode_index": 68, "tasks": [0], "length": 1, "dataset_from_index": 68, "dataset_to_index": 68, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7798753158273843, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.616546392440796, 0.3597029447555542, 0.012000000104308128], \"quaternion\": [0.5733724734090894, 0.5733724734090893, -0.41381639254232416, -0.413816392542324]}, \"12\": {\"position\": [-0.3829065263271332, 0.07054251432418823, 0.03657222166657448], \"quaternion\": [0.6226362700691224, 0.00015186250149870804, -0.002082668222703865, -0.7825086035471213]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Sheet.mdl\", \"name\": \"Chromium_Sheet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6354501322582933, -0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6354501322582933, -0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6354501322582933, 0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6354501322582933, 0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Sheet.mdl\", \"name\": \"Chromium_Sheet\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Paseo.mdl\", \"name\": \"Ceramic_Tiles_Paseo_Gray_Matte_Varied\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.33795406861827415, \"metallic_constant\": 0.8296150728562842, \"specular_level\": 0.6711640166863304}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7399600562201649, \"metallic_constant\": 0.9317373236412726, \"specular_level\": 0.2667133409313456}, {\"reflection_roughness_constant\": 0.6508036670059825, \"metallic_constant\": 0.24600812552141849, \"specular_level\": 0.0014964059804984942}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Sheet.mdl\", \"name\": \"Chromium_Sheet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7399600562201649, \"metallic_constant\": 0.9317373236412726, \"specular_level\": 0.2667133409313456}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8747946318869874, 0.0009376928335521208, -0.0018658245617224718, -0.4844894131480744]}, \"material\": {\"reflection_roughness_constant\": 0.6508036670059825, \"metallic_constant\": 0.24600812552141849, \"specular_level\": 0.0014964059804984942}}, \"distractor_0\": {\"uid\": \"28\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"28\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/028_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.18552625324388944, 0.40065391839077413, 0.008212346112551202], \"quaternion\": [0.673235521868679, -0.7210042475108074, 0.10932729727638327, -0.1222879766609243]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"32\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"32\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/032_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.200192220257482, 0.5508917490790566, 0.03547447337309289], \"quaternion\": [0.9999710765451979, -0.004628849193922666, 0.006034668343965854, -5.105052736919188e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"20\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"20\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/020_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1334421484939831, 0.08109690252036827, 0.021505665171820256], \"quaternion\": [0.48345669474166975, 0.7266983158646539, 0.14033184369464086, 0.4674250267948856]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6354501322582933, -0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6354501322582933, -0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6354501322582933, 0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6354501322582933, 0.9154261511392177, 0.0]}, \"light_radius\": 0.11144104893900693, \"light_length\": 1.9168467565980332, \"light_intensity\": 50000.0, \"light_color_temperature\": 6208.024114019128, \"center_light_postion\": [0.20243914925500883, 0.9105197716479276, 1.414806891322461], \"center_light_orientation\": [0.9948098196662899, 0.0, 0.0, 0.10175176998717936]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium_Sheet.mdl\", \"name\": \"Chromium_Sheet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750102, \"blink_pad\": 1, \"appearance_seed\": 16750102, \"blink_offset_steps\": 80, \"source_episode\": \"blinkpad1-9750102\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750111, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1757, 0.5431], \"2\": [-0.1545, 0.3818], \"3\": [-0.2033, 0.2266]}, \"randplace\": [-0.0233, 0.0066, 0.6356], \"handover_result\": null}}"}
+{"episode_index": 69, "tasks": [0], "length": 1, "dataset_from_index": 69, "dataset_to_index": 69, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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7521.653276723837, \"center_light_postion\": [0.14079592318604206, -0.10173297919098012, 1.4113104822663707], \"center_light_orientation\": [0.8722265210521267, 0.0, 0.0, 0.489102132456304]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4998379626121272, 1.114167680314674, 0.0]}, \"light_radius\": 0.0941500157819077, \"light_length\": 1.7884469211651173, \"light_intensity\": 50000.0, \"light_color_temperature\": 7521.653276723837, \"center_light_postion\": [0.14079592318604206, -0.10173297919098012, 1.4113104822663707], \"center_light_orientation\": [0.8722265210521267, 0.0, 0.0, 0.489102132456304]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.114167680314674, 0.0]}, \"light_radius\": 0.0941500157819077, \"light_length\": 1.7884469211651173, \"light_intensity\": 50000.0, \"light_color_temperature\": 7521.653276723837, \"center_light_postion\": [0.14079592318604206, -0.10173297919098012, 1.4113104822663707], \"center_light_orientation\": [0.8722265210521267, 0.0, 0.0, 0.489102132456304]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4998379626121272, 1.114167680314674, 0.0]}, \"light_radius\": 0.0941500157819077, \"light_length\": 1.7884469211651173, \"light_intensity\": 50000.0, \"light_color_temperature\": 7521.653276723837, \"center_light_postion\": [0.14079592318604206, -0.10173297919098012, 1.4113104822663707], \"center_light_orientation\": [0.8722265210521267, 0.0, 0.0, 0.489102132456304]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Ground/Ground_Aggregate_Exposed.mdl\", \"name\": \"Ground_Aggregate_Exposed\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750105, \"blink_pad\": 1, \"appearance_seed\": 16750105, \"blink_offset_steps\": 104, \"source_episode\": \"blinkpad1-9750105\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750114, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1563, 0.5154], \"2\": [-0.135, 0.3541], \"3\": [-0.1839, 0.1989]}, \"randplace\": [-0.0039, -0.0211, 5.5595], \"handover_result\": null}}"}
+{"episode_index": 70, "tasks": [0], "length": 1, "dataset_from_index": 70, "dataset_to_index": 70, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7369495666900663, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6527159214019775, 0.3794266879558563, 0.012000000104308128], \"quaternion\": [0.037545859118822966, 0.037545859118822904, 0.706109275157202, 0.7061092751572023]}, \"12\": {\"position\": [-0.357410192489624, -0.046112384647130966, 0.03657222166657448], \"quaternion\": [0.5558055099872646, -2.0855310214654924e-05, -0.0020880934369079673, -0.8313097343942579]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Spotty_Woven_Leather_Brown\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0707535444854366, -1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0707535444854366, -1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0707535444854366, 1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0707535444854366, 1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Spotty_Woven_Leather_Brown\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Polystyrene_Clear.mdl\", \"name\": \"Polystyrene_Smudged\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8178135731160845, \"metallic_constant\": 0.5647874212553458, \"specular_level\": 0.22166183445490517}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.10247947442778582, \"metallic_constant\": 0.7190550693800909, \"specular_level\": 0.5120132379652624}, {\"reflection_roughness_constant\": 0.729103853968929, \"metallic_constant\": 0.8769604280331936, \"specular_level\": 0.11915735768088476}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Spotty_Woven_Leather_Brown\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.10247947442778582, \"metallic_constant\": 0.7190550693800909, \"specular_level\": 0.5120132379652624}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8753710767631125, 0.0009399145137646821, -0.001864706371533159, -0.48344711954612374]}, \"material\": {\"reflection_roughness_constant\": 0.729103853968929, \"metallic_constant\": 0.8769604280331936, \"specular_level\": 0.11915735768088476}}, \"distractor_0\": {\"uid\": \"38\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"38\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/038_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.21529052659099784, 0.517740911996469, 0.022120817742994126], \"quaternion\": [0.9983512049299073, 0.003560761102340144, 0.006968032073099255, -0.05686509583569946]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0707535444854366, -1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0707535444854366, -1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0707535444854366, 1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0707535444854366, 1.0043046820846007, 0.0]}, \"light_radius\": 0.08261313424455653, \"light_length\": 0.807308320127885, \"light_intensity\": 50000.0, \"light_color_temperature\": 7548.878182254011, \"center_light_postion\": [-0.37194157667791694, -0.08929409371318742, 1.4262755232592887], \"center_light_orientation\": [0.9907734327107134, 0.0, 0.0, 0.13552861334282695]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Spotty_Woven_Leather_Brown\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750061, \"blink_pad\": 2, \"appearance_seed\": 16750061, \"blink_offset_steps\": 111, \"source_episode\": \"blinkpad2-9750061\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750070, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1624, 0.4808], \"2\": [-0.1411, 0.3195], \"3\": [-0.19, 0.1643]}, \"randplace\": [-0.01, -0.0557, 0.7721], \"handover_result\": null}}"}
+{"episode_index": 71, "tasks": [0], "length": 1, "dataset_from_index": 71, "dataset_to_index": 71, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7069190874794672, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6984899044036865, 0.4340707063674927, 0.012000000104308128], \"quaternion\": [0.1722573482911033, 0.17225734829110342, -0.6858042038072653, -0.6858042038072657]}, \"12\": {\"position\": [-0.35776013135910034, 0.013109509833157063, 0.03657222166657448], \"quaternion\": [0.5844578694862754, 5.197587611453467e-05, -0.0020875506349605777, -0.8114213690964879]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Plaster_Wall.mdl\", \"name\": \"Plaster_Wall\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0712550318765413, -1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0712550318765413, -1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0712550318765413, 1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0712550318765413, 1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plaster/Plaster_Wall.mdl\", \"name\": \"Plaster_Wall\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Brushed.mdl\", \"name\": \"Copper_Brushed_Medium_Light_Brushing\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.24344821999190658, \"metallic_constant\": 0.3132508628627051, \"specular_level\": 0.4363068754719419}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4683410844217023, \"metallic_constant\": 0.8529284477316211, \"specular_level\": 0.7463050062375602}, {\"reflection_roughness_constant\": 0.15635270079904517, \"metallic_constant\": 0.41049257018686036, \"specular_level\": 0.11656481910299044}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Plaster_Wall.mdl\", \"name\": \"Plaster_Wall\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.4683410844217023, \"metallic_constant\": 0.8529284477316211, \"specular_level\": 0.7463050062375602}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8710286358203748, 0.0009232619862243666, -0.0018730073278059797, -0.4912278035817516]}, \"material\": {\"reflection_roughness_constant\": 0.15635270079904517, \"metallic_constant\": 0.41049257018686036, \"specular_level\": 0.11656481910299044}}, \"distractor_0\": {\"uid\": \"30\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"30\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/030_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2534936080804313, 0.4655395326371208, 0.014795053255328856], \"quaternion\": [0.9912545197181606, 0.11674056842240056, -0.06010406254475442, 0.01317643686088467]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"38\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"38\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/038_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.18808455516687067, -0.3560708947987097, 0.022120817742994126], \"quaternion\": [0.9983512049299073, 0.003560761102340144, 0.006968032073099255, -0.05686509583569946]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0712550318765413, -1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0712550318765413, -1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0712550318765413, 1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0712550318765413, 1.0332909189682329, 0.0]}, \"light_radius\": 0.11291034627184476, \"light_length\": 0.5929674042457662, \"light_intensity\": 50000.0, \"light_color_temperature\": 7787.921877313884, \"center_light_postion\": [1.0332625836732108, -0.19912882947140553, 1.310638171927636], \"center_light_orientation\": [0.9452519320393419, 0.0, 0.0, 0.3263415158632002]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Plaster_Wall.mdl\", \"name\": \"Plaster_Wall\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750064, \"blink_pad\": 2, \"appearance_seed\": 16750064, \"blink_offset_steps\": 110, \"source_episode\": \"blinkpad2-9750064\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750073, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1741, 0.4836], \"2\": [-0.1528, 0.3223], \"3\": [-0.2017, 0.1671]}, \"randplace\": [-0.0217, -0.0529, -0.249], \"handover_result\": null}}"}
+{"episode_index": 72, "tasks": [0], "length": 1, "dataset_from_index": 72, "dataset_to_index": 72, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6948323186665851, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.605509042739868, 0.3919772803783417, 0.012000000104308128], \"quaternion\": [0.6103256373506604, 0.6103256373506604, -0.35707508509067176, -0.35707508509067176]}, \"12\": {\"position\": [-0.37702199816703796, 0.04929831996560097, 0.03657222166657448], \"quaternion\": [0.5751999468373752, 2.8251661027454915e-05, -0.002088006462842462, -0.8180101836707998]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0313897732684072, -1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0313897732684072, -1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0313897732684072, 1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 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\"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Rough\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Versailles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6171547569328659, \"metallic_constant\": 0.001376153310646555, \"specular_level\": 0.5091646739886527}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.03781470879056392, \"metallic_constant\": 0.36641241590119544, \"specular_level\": 0.21140378675369031}, {\"reflection_roughness_constant\": 0.5787939735510349, \"metallic_constant\": 0.9757883671602301, \"specular_level\": 0.5994282202703326}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.03781470879056392, \"metallic_constant\": 0.36641241590119544, \"specular_level\": 0.21140378675369031}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.839560886926584, 0.0008077116991635767, -0.0019256611737936006, -0.5432615912927242]}, \"material\": {\"reflection_roughness_constant\": 0.5787939735510349, \"metallic_constant\": 0.9757883671602301, \"specular_level\": 0.5994282202703326}}, \"distractor_0\": {\"uid\": \"24\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"24\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/024_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.19281679466588308, 0.4591370841281789, 0.04193076079166724], \"quaternion\": [0.8952658524852201, 0.4400553568540693, -0.048554449326103505, -0.04992796539604567]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0313897732684072, -1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0313897732684072, -1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0313897732684072, 1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0313897732684072, 1.2415885100542885, 0.0]}, \"light_radius\": 0.11717599535914645, \"light_length\": 1.4921144624963014, \"light_intensity\": 50000.0, \"light_color_temperature\": 7125.803663261793, \"center_light_postion\": [-0.6775351211681884, -0.5062264491067792, 1.4877079432294416], \"center_light_orientation\": [0.7561594599668298, 0.0, 0.0, 0.6543874013936029]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750067, \"blink_pad\": 2, \"appearance_seed\": 16750067, \"blink_offset_steps\": 89, \"source_episode\": \"blinkpad2-9750067\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750076, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1299, 0.5636], \"2\": [-0.1086, 0.4023], \"3\": [-0.1575, 0.2471]}, \"randplace\": [0.0225, 0.0271, -7.2183], \"handover_result\": null}}"}
+{"episode_index": 73, "tasks": [0], "length": 1, "dataset_from_index": 73, "dataset_to_index": 73, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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\"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_simple_controls\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Solid.mdl\", \"name\": \"Blood_Red\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4040936079609976, \"metallic_constant\": 0.7458508932507426, \"specular_level\": 0.9012470087024996}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.1517045708448741, \"metallic_constant\": 0.9675003786366504, \"specular_level\": 0.1872493830220895}, {\"reflection_roughness_constant\": 0.9148634016226908, \"metallic_constant\": 0.20429424808742747, \"specular_level\": 0.28772013186218004}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_simple_controls\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.1517045708448741, \"metallic_constant\": 0.9675003786366504, \"specular_level\": 0.1872493830220895}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8567654849001353, 0.000869839943964499, -0.0018984065995212133, -0.51570199079962]}, \"material\": 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6695.810658310389, \"center_light_postion\": [-0.9377328664563223, 0.6599520250280395, 1.3950843538681683], \"center_light_orientation\": [0.8086338748879223, 0.0, 0.0, -0.5883122099563667]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9994207972503324, 0.7183356657879927, 0.0]}, \"light_radius\": 0.11232422224816536, \"light_length\": 0.7762960971806607, \"light_intensity\": 50000.0, \"light_color_temperature\": 6695.810658310389, \"center_light_postion\": [-0.9377328664563223, 0.6599520250280395, 1.3950843538681683], \"center_light_orientation\": [0.8086338748879223, 0.0, 0.0, -0.5883122099563667]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7183356657879927, 0.0]}, \"light_radius\": 0.11232422224816536, \"light_length\": 0.7762960971806607, \"light_intensity\": 50000.0, \"light_color_temperature\": 6695.810658310389, \"center_light_postion\": [-0.9377328664563223, 0.6599520250280395, 1.3950843538681683], \"center_light_orientation\": [0.8086338748879223, 0.0, 0.0, -0.5883122099563667]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9994207972503324, 0.7183356657879927, 0.0]}, \"light_radius\": 0.11232422224816536, \"light_length\": 0.7762960971806607, \"light_intensity\": 50000.0, \"light_color_temperature\": 6695.810658310389, \"center_light_postion\": [-0.9377328664563223, 0.6599520250280395, 1.3950843538681683], \"center_light_orientation\": [0.8086338748879223, 0.0, 0.0, -0.5883122099563667]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_simple_controls\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750070, \"blink_pad\": 2, \"appearance_seed\": 16750070, \"blink_offset_steps\": 108, \"source_episode\": \"blinkpad2-9750070\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750079, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1526, 0.5083], \"2\": [-0.1313, 0.3469], \"3\": [-0.1802, 0.1917]}, \"randplace\": [-0.0002, -0.0283, -3.4952], \"handover_result\": null}}"}
+{"episode_index": 74, "tasks": [0], "length": 1, "dataset_from_index": 74, "dataset_to_index": 74, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7778400817318369, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.600532293319702, 0.42222291231155396, 0.012000000104308128], \"quaternion\": [0.6125523011188141, 0.612552301118814, -0.3532416713725123, -0.3532416713725123]}, \"12\": {\"position\": [-0.3840568959712982, 0.014793723821640015, 0.03657222166657448], \"quaternion\": [0.5435035668552549, -5.160183548948962e-05, -0.002087559914300985, -0.8394042603218489]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4888520980791915, -0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4888520980791915, -0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4888520980791915, 0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4888520980791915, 0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square.mdl\", \"name\": \"Ceramic_Tiles_Square_Petrol\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7429041015812429, \"metallic_constant\": 0.6462253076118469, \"specular_level\": 0.06425828738140116}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9457551982441544, \"metallic_constant\": 0.27489700821816754, \"specular_level\": 0.5194613698146877}, {\"reflection_roughness_constant\": 0.21296130943452596, \"metallic_constant\": 0.1330022288730247, \"specular_level\": 0.36483409146647094}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 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0.21296130943452596, \"metallic_constant\": 0.1330022288730247, \"specular_level\": 0.36483409146647094}}, \"distractor_0\": {\"uid\": \"28\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"28\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/028_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.29226159292675047, 0.5296528017808715, 0.008212346112551202], \"quaternion\": [0.673235521868679, -0.7210042475108074, 0.10932729727638327, -0.1222879766609243]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4888520980791915, -0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 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[2.4888520980791915, 0.5761610600017899, 0.0]}, \"light_radius\": 0.09138409413024119, \"light_length\": 1.3782331726118797, \"light_intensity\": 50000.0, \"light_color_temperature\": 7328.224166911786, \"center_light_postion\": [-1.017038371242183, 0.04260100215296814, 1.4498714763074572], \"center_light_orientation\": [0.8393121251056012, 0.0, 0.0, -0.5436498474668412]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper_State_3_of_12\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750073, \"blink_pad\": 2, \"appearance_seed\": 16750073, \"blink_offset_steps\": 73, \"source_episode\": \"blinkpad2-9750073\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750082, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1246, 0.5609], \"2\": [-0.1034, 0.3996], \"3\": [-0.1522, 0.2444]}, \"randplace\": [0.0278, 0.0244, 1.5579], \"handover_result\": null}}"}
+{"episode_index": 75, "tasks": [0], "length": 1, "dataset_from_index": 75, "dataset_to_index": 75, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7764040342589603, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6592447757720947, 0.42426347732543945, 0.012000000104308128], \"quaternion\": [0.4705852235487524, 0.47058522354875226, 0.5277779337728804, 0.5277779337728804]}, \"12\": {\"position\": [-0.37489423155784607, 0.05810161679983139, 0.03657222166657448], \"quaternion\": [0.5868843346532108, 5.82249683489325e-05, -0.0020873856850814887, -0.8096680907442959]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/PCB_Copper.mdl\", \"name\": \"PCB_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.743146972724463, -1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.743146972724463, -1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.743146972724463, 1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.743146972724463, 1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/PCB_Copper.mdl\", \"name\": \"PCB_Copper\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Optical.mdl\", \"name\": \"Glass_Optical_BASF\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7452906685520246, \"metallic_constant\": 0.3815259751217607, \"specular_level\": 0.7094965820046787}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9132341747325475, \"metallic_constant\": 0.383701495164562, \"specular_level\": 0.9731095145945667}, {\"reflection_roughness_constant\": 0.861676165027353, \"metallic_constant\": 0.5879523026670838, \"specular_level\": 0.39816332503634866}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/PCB_Copper.mdl\", \"name\": \"PCB_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9132341747325475, \"metallic_constant\": 0.383701495164562, \"specular_level\": 0.9731095145945667}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8737370393723722, 0.0009336256926954205, -0.001867863006529348, -0.4863941050831693]}, \"material\": {\"reflection_roughness_constant\": 0.861676165027353, \"metallic_constant\": 0.5879523026670838, \"specular_level\": 0.39816332503634866}}, \"distractor_0\": {\"uid\": \"26\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"26\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/026_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2623442853761556, 0.38980290854974553, 0.028457621187623974], \"quaternion\": [0.9999881333419365, 0.004289425672257478, -0.0023095454076636998, -1.6496092834989288e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"9\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"9\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/009_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.25882248716818734, 0.5968660765949219, 0.008996803228305851], \"quaternion\": [0.9999962622722316, -0.0025664956238932875, 0.0009363326035267081, -0.00010873378067945767]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.743146972724463, -1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.743146972724463, -1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.743146972724463, 1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.743146972724463, 1.063369816833983, 0.0]}, \"light_radius\": 0.09892865443405217, \"light_length\": 1.9229086032548006, \"light_intensity\": 50000.0, \"light_color_temperature\": 6423.733959253253, \"center_light_postion\": [-0.8755438827414325, -0.32065123553191766, 1.4771940787336912], \"center_light_orientation\": [0.7891247591627942, 0.0, 0.0, 0.6142329480549396]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/PCB_Copper.mdl\", \"name\": \"PCB_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750076, \"blink_pad\": 2, \"appearance_seed\": 16750076, \"blink_offset_steps\": 98, \"source_episode\": \"blinkpad2-9750076\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750085, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1526, 0.5839], \"2\": [-0.1313, 0.4226], \"3\": [-0.1802, 0.2674]}, \"randplace\": [-0.0002, 0.0474, 0.3859], \"handover_result\": null}}"}
+{"episode_index": 76, "tasks": [0], "length": 1, "dataset_from_index": 76, "dataset_to_index": 76, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7060274678075771, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6118619441986084, 0.4261316657066345, 0.012000000104308128], \"quaternion\": [0.3357738622211474, 0.3357738622211476, 0.6222988939802913, 0.6222988939802913]}, \"12\": {\"position\": [-0.3632010817527771, -0.027172202244400978, 0.03657222166657448], \"quaternion\": [0.5738623706021357, 2.483936253698943e-05, -0.002088049844062745, -0.8189490942895972]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Composite/Fiberglass.mdl\", \"name\": \"Fiberglass\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2362219725609909, -1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2362219725609909, -1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2362219725609909, 1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2362219725609909, 1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Composite/Fiberglass.mdl\", 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-0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9556012626993874, \"metallic_constant\": 0.0026912006781401043, \"specular_level\": 0.8508084587950621}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8384353402249054, 0.0008037266915857834, -0.001927327826410035, -0.5449970822791645]}, \"material\": {\"reflection_roughness_constant\": 0.011810067382072686, \"metallic_constant\": 0.6100813562020858, \"specular_level\": 0.3787534722074938}}, \"distractor_0\": {\"uid\": \"17\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"17\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/017_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.26363139436009975, 0.4315478261150977, 0.026974034207132274], \"quaternion\": [0.9999984628002755, 0.0007430579601534423, -0.0015881630122959222, 4.4699854497692527e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"25\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15214204614300017, 0.36762315416632785, 0.031145205839611854], \"quaternion\": [0.9999952705616312, 0.0001807586360035439, -0.002239494103316246, 0.0021002016205473777]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"0\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1250194893149933, 0.07910694410978814, 0.11342173113012129], \"quaternion\": [0.9999981814286957, -0.0006128039580464258, -0.0018059741458164712, -8.245944146584875e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2362219725609909, -1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2362219725609909, -1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2362219725609909, 1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2362219725609909, 1.0568593582787906, 0.0]}, \"light_radius\": 0.08618133106023992, \"light_length\": 0.5679121820636333, \"light_intensity\": 50000.0, \"light_color_temperature\": 7756.447463747808, \"center_light_postion\": [-0.12391117010977604, -0.27261307724134254, 1.408414639085152], \"center_light_orientation\": [0.8534393547694535, 0.0, 0.0, 0.5211921600817675]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Composite/Fiberglass.mdl\", \"name\": \"Fiberglass\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750079, \"blink_pad\": 2, \"appearance_seed\": 16750079, \"blink_offset_steps\": 57, \"source_episode\": \"blinkpad2-9750079\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750088, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1527, 0.5379], \"2\": [-0.1314, 0.3765], \"3\": [-0.1803, 0.2213]}, \"randplace\": [-0.0003, 0.0013, -7.4553], \"handover_result\": null}}"}
+{"episode_index": 77, "tasks": [0], "length": 1, "dataset_from_index": 77, "dataset_to_index": 77, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7769008339753227, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6895227432250977, 0.426662415266037, 0.012000000104308128], \"quaternion\": [0.11839667737161459, 0.11839667737161455, 0.6971242549125385, 0.6971242549125383]}, \"12\": {\"position\": [-0.3557177186012268, 0.0726945698261261, 0.03657222166657448], \"quaternion\": [0.6576590120048977, 0.00024664125000595536, -0.0020735807770660974, -0.753312858883742]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Opaque.mdl\", \"name\": \"Polypropylene_Light_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.078338068209258, -0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.078338068209258, 0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Opaque.mdl\", \"name\": \"Polypropylene_Light_Blue\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Walnut.mdl\", \"name\": \"Wood_Tiles_Walnut_Versailles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8590182994500234, \"metallic_constant\": 0.5886061751741248, \"specular_level\": 0.045323914073506444}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.0858785046404934, \"metallic_constant\": 0.6955924890863745, \"specular_level\": 0.4635712482207186}, {\"reflection_roughness_constant\": 0.21997856914722658, \"metallic_constant\": 0.3092548782895119, \"specular_level\": 0.6064877820936917}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Opaque.mdl\", \"name\": \"Polypropylene_Light_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.0858785046404934, \"metallic_constant\": 0.6955924890863745, \"specular_level\": 0.4635712482207186}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.87472259627717, 0.0009374154429837396, -0.0018659639419017341, -0.48461945791825417]}, \"material\": {\"reflection_roughness_constant\": 0.21997856914722658, \"metallic_constant\": 0.3092548782895119, \"specular_level\": 0.6064877820936917}}, \"distractor_0\": {\"uid\": \"22\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"22\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/022_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2705261487907211, 0.5413986712694492, 0.03445683785999195], \"quaternion\": [0.9985337470922516, -0.019782695549429255, -0.050387473467805984, -0.00032154663275177944]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.078338068209258, -0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.078338068209258, -0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.078338068209258, 0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.078338068209258, 0.6150788737341598, 0.0]}, \"light_radius\": 0.10545496429072326, \"light_length\": 0.5151131625000148, \"light_intensity\": 50000.0, \"light_color_temperature\": 7140.299529727977, \"center_light_postion\": [-0.0029941056383446796, 0.898289981114019, 1.486212542854257], \"center_light_orientation\": [0.9761167760233957, 0.0, 0.0, -0.21724649494454867]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Opaque.mdl\", \"name\": \"Polypropylene_Light_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750082, \"blink_pad\": 2, \"appearance_seed\": 16750082, \"blink_offset_steps\": 71, \"source_episode\": \"blinkpad2-9750082\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750091, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1647, 0.5313], \"2\": [-0.1434, 0.37], \"3\": [-0.1923, 0.2148]}, \"randplace\": [-0.0123, -0.0052, 0.6185], \"handover_result\": null}}"}
+{"episode_index": 78, "tasks": [0], "length": 1, "dataset_from_index": 78, "dataset_to_index": 78, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7158441149001624, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6892576217651367, 0.4028390944004059, 0.012000000104308128], \"quaternion\": [0.2667405203529624, 0.2667405203529624, -0.6548660128620439, -0.6548660128620442]}, \"12\": {\"position\": [-0.35993489623069763, 0.0009793356293812394, 0.03657222166657448], \"quaternion\": [0.5429994804649424, -5.28552222974608e-05, -0.0020875285556604117, -0.8397304351073965]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Metallic.mdl\", \"name\": \"Gold_Metallic\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2846202078863844, -0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2846202078863844, -0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2846202078863844, 0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2846202078863844, 0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Metallic.mdl\", \"name\": \"Gold_Metallic\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Gold.mdl\", \"name\": \"Gold_Glossy_Fingerprints\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8354117407354829, \"metallic_constant\": 0.19609530292859945, \"specular_level\": 0.7517291278384172}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.819623359512618, \"metallic_constant\": 0.05493717602286674, \"specular_level\": 0.8300235317131189}, {\"reflection_roughness_constant\": 0.38727292105871247, \"metallic_constant\": 0.5213170637095893, \"specular_level\": 0.9827731018192822}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Metallic.mdl\", \"name\": \"Gold_Metallic\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.819623359512618, \"metallic_constant\": 0.05493717602286674, \"specular_level\": 0.8300235317131189}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.856785075685558, 0.0008699120633803516, -0.0018983735531257272, -0.5156694420976949]}, \"material\": {\"reflection_roughness_constant\": 0.38727292105871247, \"metallic_constant\": 0.5213170637095893, \"specular_level\": 0.9827731018192822}}, \"distractor_0\": {\"uid\": \"2\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22828059932578254, 0.4581263129421831, 0.05990794499606073], \"quaternion\": [0.9999994862139763, 0.0001379487826685896, -0.0010042618133162982, -3.5710943586164063e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2846202078863844, -0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2846202078863844, -0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2846202078863844, 0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2846202078863844, 0.7776553598375012, 0.0]}, \"light_radius\": 0.10403981074229748, \"light_length\": 0.5976450497816431, \"light_intensity\": 50000.0, \"light_color_temperature\": 7111.58616978558, \"center_light_postion\": [0.12176760999448533, 0.2555049134478955, 1.3440787589191001], \"center_light_orientation\": [0.9450926771910537, 0.0, 0.0, -0.32680243499681383]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Metallic.mdl\", \"name\": \"Gold_Metallic\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750085, \"blink_pad\": 2, \"appearance_seed\": 16750085, \"blink_offset_steps\": 65, \"source_episode\": \"blinkpad2-9750085\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750094, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1477, 0.4964], \"2\": [-0.1264, 0.3351], \"3\": [-0.1753, 0.1799]}, \"randplace\": [0.0047, -0.0401, -3.4908], \"handover_result\": null}}"}
+{"episode_index": 79, "tasks": [0], "length": 1, "dataset_from_index": 79, "dataset_to_index": 79, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7600743111422752, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6355772018432617, 0.44472768902778625, 0.012000000104308128], \"quaternion\": [0.09386542002570186, 0.09386542002570179, 0.7008489729773444, 0.7008489729773444]}, \"12\": {\"position\": [-0.38458752632141113, -0.03381379693746567, 0.03657222166657448], \"quaternion\": [0.5534653902827703, -2.6727646602318438e-05, -0.002088026527161335, -0.8328695583283109]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4928159364073617, -0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4928159364073617, -0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4928159364073617, 0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4928159364073617, 0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Blue\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Versailles.mdl\", \"name\": \"Ceramic_Tiles_Versailles_Petrol_Varied\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5720064027084545, \"metallic_constant\": 0.9807933411984373, \"specular_level\": 0.5829651161256617}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7944104931185655, \"metallic_constant\": 0.6243371040608121, \"specular_level\": 0.9306937682853845}, {\"reflection_roughness_constant\": 0.2704324043672146, \"metallic_constant\": 0.18859494122589127, \"specular_level\": 0.2738326367523889}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7944104931185655, \"metallic_constant\": 0.6243371040608121, \"specular_level\": 0.9306937682853845}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8890887818040237, 0.0009938600993848294, -0.0018365215076531602, -0.457730026872929]}, \"material\": {\"reflection_roughness_constant\": 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\"quaternion\": [0.6893262685248722, -0.08608386766212113, -0.7115336943090719, -0.10553987451570405]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"2\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.1582886681072081, -0.37653950798041447, 0.05990794499606073], \"quaternion\": [0.9999994862139763, 0.0001379487826685896, -0.0010042618133162982, -3.5710943586164063e-07]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4928159364073617, -0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4928159364073617, -0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4928159364073617, 0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4928159364073617, 0.6861718485138936, 0.0]}, \"light_radius\": 0.0869490493811107, \"light_length\": 0.5743304359585425, \"light_intensity\": 50000.0, \"light_color_temperature\": 7435.300787325894, \"center_light_postion\": [-0.32981424894835265, -0.15540784604033775, 1.4571899855585633], \"center_light_orientation\": [0.9326481871925365, 0.0, 0.0, 0.3607871379726216]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750088, \"blink_pad\": 2, \"appearance_seed\": 16750088, \"blink_offset_steps\": 50, \"source_episode\": \"blinkpad2-9750088\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750097, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1773, 0.5339], \"2\": [-0.156, 0.3726], \"3\": [-0.2049, 0.2174]}, \"randplace\": [-0.0249, -0.0026, 4.1122], \"handover_result\": null}}"}
+{"episode_index": 80, "tasks": [0], "length": 1, "dataset_from_index": 80, "dataset_to_index": 80, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7187269568285352, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6487460136413574, 0.44690340757369995, 0.012000000104308128], \"quaternion\": [0.31488075750843864, 0.3148807575084387, 0.6331272451497499, 0.6331272451497502]}, \"12\": {\"position\": [-0.35899412631988525, 0.040412332862615585, 0.03657222166657448], \"quaternion\": [0.5861562591328159, 5.634852229485859e-05, -0.002087437182110352, -0.8101953340462272]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3307437954867658, -1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3307437954867658, -1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3307437954867658, 1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3307437954867658, 1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", 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{\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9635663942527664, \"metallic_constant\": 0.9196064532488514, \"specular_level\": 0.5558517870657895}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8941883627992246, 0.001014484093243439, -0.0018252098974577955, -0.44768606329133975]}, \"material\": {\"reflection_roughness_constant\": 0.3930590643308499, \"metallic_constant\": 0.5120508078676123, \"specular_level\": 0.25403353477469925}}, \"distractor_0\": {\"uid\": \"23\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"23\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/023_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.16753385861752568, 0.5169633966544057, 0.033275923321799954], \"quaternion\": [0.9996271452011355, 0.023150253503286082, -0.014474383013396321, -0.0003585751546958033]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"8\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"8\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/008_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.20381808194418155, -0.3775290150841353, 0.027943414600932928], \"quaternion\": [0.9999987458386448, 0.0005432698341971291, 0.001487599719398305, -1.503657189364449e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"31\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"31\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/031_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.15218041738643664, 0.32836452887921275, 0.012359121891783485], \"quaternion\": [0.9990193734695209, -0.044233924007068985, -0.00042171372199921247, 0.0018637481157870361]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3307437954867658, -1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3307437954867658, -1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3307437954867658, 1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3307437954867658, 1.0415666337581615, 0.0]}, \"light_radius\": 0.09047598014464706, \"light_length\": 0.9482092883915612, \"light_intensity\": 50000.0, \"light_color_temperature\": 6490.645032305368, \"center_light_postion\": [-0.9733218458440879, 0.3015525737498381, 1.463911132655248], \"center_light_orientation\": [0.95247988219845, 0.0, 0.0, 0.30460150033646693]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Stackbond\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750080, \"blink_pad\": 3, \"appearance_seed\": 16750080, \"blink_offset_steps\": 111, \"source_episode\": \"blinkpad3-9750080\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750089, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1301, 0.5489], \"2\": [-0.1088, 0.3876], \"3\": [-0.1577, 0.2324]}, \"randplace\": [0.0223, 0.0124, 5.403], \"handover_result\": null}}"}
+{"episode_index": 81, "tasks": [0], "length": 1, "dataset_from_index": 81, "dataset_to_index": 81, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7206185825107084, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.665931463241577, 0.35277697443962097, 0.012000000104308128], \"quaternion\": [0.7020268353363464, 0.7020268353363465, 0.08460687009713985, 0.08460687009713995]}, \"12\": {\"position\": [-0.3617973029613495, 0.04992286115884781, 0.03657222166657448], \"quaternion\": [0.5767898050075635, 3.2312566382552436e-05, -0.0020879475671760073, -0.816889931551486]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6524393293996102, -1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, 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\"CylinderLight\", \"pose\": {\"position\": [0.0, 1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6524393293996102, 1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Foil.mdl\", \"name\": \"Silver_Foil_Heavy_Glossy_Wrinkles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.10153870730329662, \"metallic_constant\": 0.31330142943067907, \"specular_level\": 0.9633870774975682}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7546974186627188, \"metallic_constant\": 0.740203705994981, \"specular_level\": 0.9693327320200876}, {\"reflection_roughness_constant\": 0.6077886287252735, \"metallic_constant\": 0.7093311987243351, \"specular_level\": 0.12754824356216}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.7546974186627188, \"metallic_constant\": 0.740203705994981, \"specular_level\": 0.9693327320200876}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8566574505028631, 0.0008694422969154767, -0.0018985887489280557, -0.5158814320449902]}, \"material\": {\"reflection_roughness_constant\": 0.6077886287252735, \"metallic_constant\": 0.7093311987243351, \"specular_level\": 0.12754824356216}}, \"distractor_0\": {\"uid\": \"8\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"8\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/008_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17574386625096072, 0.5702163260250552, 0.027943414600932928], \"quaternion\": [0.9999987458386448, 0.0005432698341971291, 0.001487599719398305, -1.503657189364449e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6524393293996102, -1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6524393293996102, -1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6524393293996102, 1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6524393293996102, 1.034983777232907, 0.0]}, \"light_radius\": 0.11003187697819841, \"light_length\": 1.1225571912978767, \"light_intensity\": 50000.0, \"light_color_temperature\": 7820.630299848969, \"center_light_postion\": [-0.5786398779873876, 0.5146708086469438, 1.3449946246225104], \"center_light_orientation\": [0.988998301532346, 0.0, 0.0, -0.14792687235974014]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750086, \"blink_pad\": 3, \"appearance_seed\": 16750086, \"blink_offset_steps\": 66, \"source_episode\": \"blinkpad3-9750086\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750095, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.166, 0.5615], \"2\": [-0.1448, 0.4001], \"3\": [-0.1936, 0.2449]}, \"randplace\": [-0.0136, 0.0249, -3.5192], \"handover_result\": null}}"}
+{"episode_index": 82, "tasks": [0], "length": 1, "dataset_from_index": 82, "dataset_to_index": 82, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7377615054860029, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6166293621063232, 0.3540363311767578, 0.012000000104308128], \"quaternion\": [0.279535390868099, 0.27953539086809914, -0.6495074789809727, -0.6495074789809729]}, \"12\": {\"position\": [-0.38454094529151917, -0.035917069762945175, 0.03657222166657448], \"quaternion\": [0.6164191314494252, 0.00013536262960550983, -0.0020838056780154712, -0.7874154518511759]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet_Splotchy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0246256179290576, -0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0246256179290576, -0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0246256179290576, 0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0246256179290576, 0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet_Splotchy_Streaks\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Blued_Steel_Cold.mdl\", \"name\": \"Blued_Steel_Cold\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.255433567043747, \"metallic_constant\": 0.02457067524794765, \"specular_level\": 0.14957469607766627}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9457251490661509, \"metallic_constant\": 0.7701328052580119, \"specular_level\": 0.861073661579321}, {\"reflection_roughness_constant\": 0.4016497372187553, \"metallic_constant\": 0.6294989970830935, \"specular_level\": 0.23840298141315508}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet_Splotchy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.9457251490661509, \"metallic_constant\": 0.7701328052580119, \"specular_level\": 0.861073661579321}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8799976539142931, 0.0009578732592427002, -0.0018555451933191028, -0.4749734398218445]}, \"material\": {\"reflection_roughness_constant\": 0.4016497372187553, \"metallic_constant\": 0.6294989970830935, \"specular_level\": 0.23840298141315508}}, \"distractor_0\": {\"uid\": \"27\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"27\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/027_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.22106910560755533, 0.4515972888588087, 0.009931246644303561], \"quaternion\": [0.7498643123457527, 0.1473015205045196, 0.6446390792567795, -0.021124218855622705]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"32\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"32\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/032_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14659754395545155, 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\"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0246256179290576, -0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0246256179290576, 0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0246256179290576, 0.7219436570425097, 0.0]}, \"light_radius\": 0.09601257059485568, \"light_length\": 1.9706888206200606, \"light_intensity\": 50000.0, \"light_color_temperature\": 7197.0251565725375, \"center_light_postion\": [-0.25975423049382196, -0.9725246994289585, 1.4859446909509453], \"center_light_orientation\": [0.989709392909831, 0.0, 0.0, -0.14309198994372097]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Sheet.mdl\", \"name\": \"Nickel_Sheet_Splotchy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750089, \"blink_pad\": 3, \"appearance_seed\": 16750089, \"blink_offset_steps\": 88, \"source_episode\": \"blinkpad3-9750089\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750098, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1649, 0.5002], \"2\": [-0.1437, 0.3388], \"3\": [-0.1925, 0.1836]}, \"randplace\": [-0.0125, -0.0364, 1.8784], \"handover_result\": null}}"}
+{"episode_index": 83, "tasks": [0], "length": 1, "dataset_from_index": 83, "dataset_to_index": 83, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7090284898929796, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6563804149627686, 0.4214703142642975, 0.012000000104308128], \"quaternion\": [0.33981575264983227, 0.33981575264983216, -0.6201010032656198, -0.6201010032656198]}, \"12\": {\"position\": [-0.3650551736354828, -0.0055025010369718075, 0.03657222166657448], \"quaternion\": [0.5598199407083566, -1.0755241683865124e-05, -0.0020881698853296715, -0.828611654163847]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8270197960704142, -1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8270197960704142, -1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8270197960704142, 1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8270197960704142, 1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Gold_Smooth_Subtle\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.31392698670269703, \"metallic_constant\": 0.03168722002511548, \"specular_level\": 0.048292675367765714}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3394902173097083, \"metallic_constant\": 0.4892206854092155, \"specular_level\": 0.5973470905114271}, {\"reflection_roughness_constant\": 0.9914231556545422, \"metallic_constant\": 0.23000593436719008, \"specular_level\": 0.8562769743491371}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.3394902173097083, \"metallic_constant\": 0.4892206854092155, \"specular_level\": 0.5973470905114271}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.9037773057043559, 0.0010542089853610498, -0.0018025572280529363, -0.42799792186952307]}, \"material\": {\"reflection_roughness_constant\": 0.9914231556545422, \"metallic_constant\": 0.23000593436719008, \"specular_level\": 0.8562769743491371}}, \"distractor_0\": {\"uid\": \"16\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"16\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/016_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2777173701909795, 0.39123668357091057, 0.036309913685165694], \"quaternion\": [0.9989478917937755, 0.024600813694765338, 0.03870198564373443, 0.0002564245680066577]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"25\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2556420285175738, 0.5565339581477281, 0.031145205839611854], \"quaternion\": [0.9999952705616312, 0.0001807586360035439, -0.002239494103316246, 0.0021002016205473777]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8270197960704142, -1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8270197960704142, -1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8270197960704142, 1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8270197960704142, 1.0615827064603327, 0.0]}, \"light_radius\": 0.0841729881902611, \"light_length\": 1.0712363568939645, \"light_intensity\": 50000.0, \"light_color_temperature\": 6826.928848754395, \"center_light_postion\": [0.24279325889937287, 1.0662613250995516, 1.446971115085649], \"center_light_orientation\": [0.746876915196899, 0.0, 0.0, 0.6649623098687355]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium.mdl\", \"name\": \"Titanium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750092, \"blink_pad\": 3, \"appearance_seed\": 16750092, \"blink_offset_steps\": 79, \"source_episode\": \"blinkpad3-9750092\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750101, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1437, 0.4991], \"2\": [-0.1224, 0.3377], \"3\": [-0.1713, 0.1825]}, \"randplace\": [0.0087, -0.0375, 7.9125], \"handover_result\": null}}"}
+{"episode_index": 84, "tasks": [0], "length": 1, "dataset_from_index": 84, "dataset_to_index": 84, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.724922373074728, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6482276916503906, 0.38360151648521423, 0.012000000104308128], \"quaternion\": [0.6992585360993231, 0.699258536099323, -0.10505950548252185, -0.10505950548252185]}, \"12\": {\"position\": [-0.3513112962245941, 0.03484240919351578, 0.03657222166657448], \"quaternion\": [0.5788485093159538, 3.757914365465169e-05, -0.002087859418922644, -0.8154324268101883]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Lavender\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5777027556064311, -1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5777027556064311, -1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5777027556064311, 1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, \"Light_1_1\": {\"uid\": 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\"name\": \"Silk_Charmeuse_Lavender\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_02.mdl\", \"name\": \"Woven_Metal_02_Steel_Brass\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.31469966040163033, \"metallic_constant\": 0.2665460684549813, \"specular_level\": 0.4620766478115501}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8392100027166004, \"metallic_constant\": 0.12024633900318193, \"specular_level\": 0.2249237252398545}, {\"reflection_roughness_constant\": 0.7934822657067675, \"metallic_constant\": 0.09455889121448835, \"specular_level\": 0.01442177566024283}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Lavender\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8392100027166004, \"metallic_constant\": 0.12024633900318193, \"specular_level\": 0.2249237252398545}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8506410014545566, 0.0008474524203204302, -0.0019085055778055521, -0.5257428326427707]}, \"material\": {\"reflection_roughness_constant\": 0.7934822657067675, \"metallic_constant\": 0.09455889121448835, \"specular_level\": 0.01442177566024283}}, \"distractor_0\": {\"uid\": \"37\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"37\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/037_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2040560074215142, -0.36784472736016016, 0.023384398453904987], \"quaternion\": [0.9997816021807305, 0.0032060180730348127, 0.020650865775346763, -0.00010550723377541556]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"25\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.17721007568415792, 0.4449489866052082, 0.031145205839611854], \"quaternion\": [0.9999952705616312, 0.0001807586360035439, -0.002239494103316246, 0.0021002016205473777]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5777027556064311, -1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5777027556064311, -1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5777027556064311, 1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5777027556064311, 1.2361892743317322, 0.0]}, \"light_radius\": 0.09452773893432262, \"light_length\": 0.7245647358409596, \"light_intensity\": 50000.0, \"light_color_temperature\": 7573.700764538983, \"center_light_postion\": [-0.028993235780835125, 0.36957935879464876, 1.305383280604426], \"center_light_orientation\": [0.9810802223898325, 0.0, 0.0, 0.19360164574588948]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Charmeuse.mdl\", \"name\": \"Silk_Charmeuse_Lavender\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750095, \"blink_pad\": 3, \"appearance_seed\": 16750095, \"blink_offset_steps\": 53, \"source_episode\": \"blinkpad3-9750095\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750104, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1461, 0.5549], \"2\": [-0.1249, 0.3936], \"3\": [-0.1737, 0.2384]}, \"randplace\": [0.0063, 0.0184, -4.8429], \"handover_result\": null}}"}
+{"episode_index": 85, "tasks": [0], "length": 1, "dataset_from_index": 85, "dataset_to_index": 85, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7743409465863205, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6442172527313232, 0.4020746052265167, 0.012000000104308128], \"quaternion\": [0.5408300769887546, 0.5408300769887546, -0.45552478288709786, -0.45552478288709797]}, \"12\": {\"position\": [-0.3564956486225128, 0.04694318026304245, 0.03657222166657448], \"quaternion\": [0.6415054985255617, 0.00020252979136710085, -0.0020783529124841493, -0.7671155941527491]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Ash.mdl\", \"name\": \"Wood_Tiles_Ash_Herringbone\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1316185984315819, -1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, 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\"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1316185984315819, 1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Ash.mdl\", 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[-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.5421478868707142, \"metallic_constant\": 0.8364237381015382, \"specular_level\": 0.8403948842361907}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8451315415150722, 0.0008275734433243181, -0.001917209258564696, -0.5345543161992176]}, \"material\": {\"reflection_roughness_constant\": 0.148349319632206, \"metallic_constant\": 0.47406012812266773, \"specular_level\": 0.763570772766363}}, \"distractor_0\": {\"uid\": \"24\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"24\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/024_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.18757621890270829, 0.3862364981641564, 0.04193076079166724], \"quaternion\": [0.8952658524852201, 0.4400553568540693, -0.048554449326103505, -0.04992796539604567]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"30\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"30\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/030_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.25450475818382495, 0.48793773296321796, 0.014795053255328856], \"quaternion\": [0.9912545197181606, 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1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1316185984315819, -1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1316185984315819, 1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1316185984315819, 1.1156076602314482, 0.0]}, \"light_radius\": 0.09245438462901523, \"light_length\": 1.5878264028870632, \"light_intensity\": 50000.0, \"light_color_temperature\": 7106.123345472958, \"center_light_postion\": [-0.9057748787840311, -0.22890491564603355, 1.381782450989846], \"center_light_orientation\": [0.8786501778011232, 0.0, 0.0, -0.47746608785342504]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Ash.mdl\", \"name\": \"Wood_Tiles_Ash_Herringbone\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750101, \"blink_pad\": 3, \"appearance_seed\": 16750101, \"blink_offset_steps\": 85, \"source_episode\": \"blinkpad3-9750101\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750110, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1628, 0.584], \"2\": [-0.1415, 0.4227], \"3\": [-0.1904, 0.2675]}, \"randplace\": [-0.0104, 0.0475, -6.0338], \"handover_result\": null}}"}
+{"episode_index": 86, "tasks": [0], "length": 1, "dataset_from_index": 86, "dataset_to_index": 86, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.744517057770457, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.651113986968994, 0.36709949374198914, 0.012000000104308128], \"quaternion\": [0.7062085818950313, 0.706208581895031, 0.03562918547777305, 0.0356291854777729]}, \"12\": {\"position\": [-0.3786710202693939, 0.07299122214317322, 0.03657222166657448], \"quaternion\": [0.5454939975367343, -4.664777441201329e-05, -0.0020876764908300816, -0.8381121273924197]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Sheet.mdl\", \"name\": \"Copper_Sheet_Glossy_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.1675919157267423, -0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.1675919157267423, -0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.1675919157267423, 0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.1675919157267423, 0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Sheet.mdl\", \"name\": \"Copper_Sheet_Glossy_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Mirror.mdl\", \"name\": \"Mirror_Cool_Tint\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5795679985519081, \"metallic_constant\": 0.019576207940879886, \"specular_level\": 0.6229633296754732}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.13621751537629567, \"metallic_constant\": 0.9722812227105602, \"specular_level\": 0.2845365026283071}, {\"reflection_roughness_constant\": 0.4302407004452734, \"metallic_constant\": 0.32765692677285974, \"specular_level\": 0.9716235522999799}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Sheet.mdl\", \"name\": \"Copper_Sheet_Glossy_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.13621751537629567, \"metallic_constant\": 0.9722812227105602, \"specular_level\": 0.2845365026283071}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8537595170623072, 0.0008588127804423061, -0.0019034205403354286, -0.5206633523270013]}, \"material\": {\"reflection_roughness_constant\": 0.4302407004452734, \"metallic_constant\": 0.32765692677285974, \"specular_level\": 0.9716235522999799}}, \"distractor_0\": {\"uid\": \"34\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"34\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/034_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2309999785058508, 0.5791655943498325, 0.011812929771379311], \"quaternion\": [0.4270890316884556, 0.09599325522454391, 0.89907406116765, -0.006788703729120447]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"10\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"10\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/010_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2780019986497789, -0.3959608395201383, 0.039032810724311376], \"quaternion\": [0.9949469449625798, -0.05185164954558676, -0.08585456333235898, -0.004580076859636752]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.1675919157267423, -0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.1675919157267423, -0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.1675919157267423, 0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.1675919157267423, 0.7104880598886913, 0.0]}, \"light_radius\": 0.11527333748770544, \"light_length\": 2.0057732042635488, \"light_intensity\": 50000.0, \"light_color_temperature\": 7289.3883801673655, \"center_light_postion\": [0.7477666634089983, 0.8601816808512093, 1.4679529544209045], \"center_light_orientation\": [0.8882674030231559, 0.0, 0.0, -0.4593267036941117]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Sheet.mdl\", \"name\": \"Copper_Sheet_Glossy_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750104, \"blink_pad\": 3, \"appearance_seed\": 16750104, \"blink_offset_steps\": 65, \"source_episode\": \"blinkpad3-9750104\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750113, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1817, 0.5276], \"2\": [-0.1604, 0.3663], \"3\": [-0.2093, 0.2111]}, \"randplace\": [-0.0293, -0.0089, -4.1599], \"handover_result\": null}}"}
+{"episode_index": 87, "tasks": [0], "length": 1, "dataset_from_index": 87, "dataset_to_index": 87, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7491102318814877, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6582419872283936, 0.42296090722084045, 0.012000000104308128], \"quaternion\": [0.09718719788692554, 0.09718719788692552, -0.7003960654992916, -0.7003960654992912]}, \"12\": {\"position\": [-0.3610258996486664, -0.0020685275085270405, 0.03657222166657448], \"quaternion\": [0.5859355749331842, 5.577999184709829e-05, -0.0020874524516099058, -0.810354947821369]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Felted_Wool\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7330729887651055, -0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7330729887651055, -0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7330729887651055, 0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7330729887651055, 0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Felted_Wool\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_orange\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7842770234789177, \"metallic_constant\": 0.03964478921856962, \"specular_level\": 0.6358974245410732}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8594012337604859, \"metallic_constant\": 0.41926268293705427, \"specular_level\": 0.25102137201842534}, {\"reflection_roughness_constant\": 0.16764866016342728, \"metallic_constant\": 0.5428054390054774, \"specular_level\": 0.7258524870731453}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Felted_Wool\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 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0.16764866016342728, \"metallic_constant\": 0.5428054390054774, \"specular_level\": 0.7258524870731453}}, \"distractor_0\": {\"uid\": \"6\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"6\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/006_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.298414873366333, 0.5107516017837105, 0.025782274182429385], \"quaternion\": [0.9999997265710481, -0.0005242914188096242, -0.000521458515215252, -7.573288419067393e-06]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_1\": {\"uid\": \"36\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"36\", \"label\": \"distractor_1\", \"name\": \"distractor_1\", \"usd_path\": \"data/assets/graspnet/ruled_models/036_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.14585385190760772, 0.42757011812029755, 0.02357494652633171], \"quaternion\": [0.9927169326793728, 0.053684131630134746, -0.060643713479939985, -0.08918209236242093]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}, \"distractor_2\": {\"uid\": \"4\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"4\", \"label\": \"distractor_2\", \"name\": \"distractor_2\", \"usd_path\": \"data/assets/graspnet/ruled_models/004_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.23561348983607927, -0.3860621828996792, 0.05051090228101861], \"quaternion\": [0.9999996203060304, -0.0007825072406519763, -0.0003827144368070325, 2.449234127980436e-05]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7330729887651055, -0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7330729887651055, -0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7330729887651055, 0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7330729887651055, 0.9972335099280106, 0.0]}, \"light_radius\": 0.08057035378396629, \"light_length\": 1.8487965290758217, \"light_intensity\": 50000.0, \"light_color_temperature\": 7253.958706778292, \"center_light_postion\": [0.9211314368444543, 0.10975191724936861, 1.3003176930134661], \"center_light_orientation\": [0.9368088317723374, 0.0, 0.0, -0.3498416966477099]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Felted_Wool\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750110, \"blink_pad\": 3, \"appearance_seed\": 16750110, \"blink_offset_steps\": 100, \"source_episode\": \"blinkpad3-9750110\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750119, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1377, 0.4926], \"2\": [-0.1164, 0.3313], \"3\": [-0.1653, 0.1761]}, \"randplace\": [0.0147, -0.0439, -1.1923], \"handover_result\": null}}"}
+{"episode_index": 88, "tasks": [0], "length": 1, "dataset_from_index": 88, "dataset_to_index": 88, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7132417174002179, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.693284034729004, 0.40569716691970825, 0.012000000104308128], \"quaternion\": [0.11204775686759066, 0.11204775686759068, -0.698172829735547, -0.698172829735547]}, \"12\": {\"position\": [-0.37570759654045105, -0.026781247928738594, 0.03657222166657448], \"quaternion\": [0.6291420066787934, 0.00016923007132484556, -0.0020813289812480207, -0.7772875753947418]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.046005381464771, -0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.046005381464771, -0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.046005381464771, 0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.046005381464771, 0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_Shiny_Handled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Glazing_Tinted.mdl\", \"name\": \"Glass_Glazing_Tinted_Smoked_Sky\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9436822207949759, \"metallic_constant\": 0.9671274411759451, \"specular_level\": 0.56010830643418}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8613297868064524, \"metallic_constant\": 0.0842958624755118, \"specular_level\": 0.15390911375342153}, {\"reflection_roughness_constant\": 0.10646626483802124, \"metallic_constant\": 0.6898983554992653, \"specular_level\": 0.6136394961057541}]}}, \"layout\": {\"actors\": {\"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.8613297868064524, \"metallic_constant\": 0.0842958624755118, \"specular_level\": 0.15390911375342153}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8340215768643162, 0.0007881878682855795, -0.0019337344775095917, -0.5517278756376325]}, \"material\": {\"reflection_roughness_constant\": 0.10646626483802124, \"metallic_constant\": 0.6898983554992653, \"specular_level\": 0.6136394961057541}}, \"distractor_0\": {\"uid\": \"19\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"19\", \"label\": \"distractor_0\", \"name\": \"distractor_0\", \"usd_path\": \"data/assets/graspnet/ruled_models/019_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [0.2897866243032139, -0.3706617683993677, 0.11147754429004073], \"quaternion\": [0.999999963450531, -0.00027036809759421087, -1.694151780687647e-07, -9.33388583595994e-11]}, \"material\": {\"reflection_roughness_constant\": 0.8, \"metallic_constant\": 0.0, \"specular_level\": 0.25}}}, \"lights\": [{\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.046005381464771, -0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.046005381464771, -0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.046005381464771, 0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.046005381464771, 0.7615263506244981, 0.0]}, \"light_radius\": 0.11727018764161631, \"light_length\": 1.665099643356313, \"light_intensity\": 50000.0, \"light_color_temperature\": 7386.505503155668, \"center_light_postion\": [-0.58660205044897, 0.9975749051123324, 1.4403832886194152], \"center_light_orientation\": [0.904129398735967, 0.0, 0.0, -0.4272587393387511]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750113, \"blink_pad\": 3, \"appearance_seed\": 16750113, \"blink_offset_steps\": 111, \"source_episode\": \"blinkpad3-9750113\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750122, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.133, 0.543], \"2\": [-0.1117, 0.3817], \"3\": [-0.1606, 0.2265]}, \"randplace\": [0.0194, 0.0065, -8.3777], \"handover_result\": null}}"}
+{"episode_index": 89, "tasks": [0], "length": 1, "dataset_from_index": 89, "dataset_to_index": 89, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."}, "environment_config": "{\"uid\": \"g1_wholebody_locomotion_pick_between_tables_mp\", \"label\": \"G1 Wholebody Locomotion Pick and Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to table2, and place it in a container.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\", \"max_episode_steps\": 1700, \"success_criteria\": 1.0}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick the object from table1, locomote to table2, and place it on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 0, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.69, 0.0], \"high\": [-0.78, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.39, -0.07], \"high\": [-0.35, 0.09]}, \"container_region\": {\"low\": [-2.7, 0.35], \"high\": [-2.6, 0.45]}, \"distractors_region\": [{\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-0.2, -0.3], \"high\": [-0.0, 0.3]}, {\"low\": [-2.8, -0.3], \"high\": [-2.6, 0.3]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": null, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene6\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": null, \"table2_height\": {\"low\": 0.0, \"high\": 0.0}, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": 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[0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}, \"container\": {\"uid\": \"0\", \"asset\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 0.0, -0.75], \"quaternion\": [0.5, 0.5, 0.5, 0.5]}, \"material\": {\"reflection_roughness_constant\": 0.3526998536085856, \"metallic_constant\": 0.3250591212511731, \"specular_level\": 0.12006151652634633}}, \"target\": {\"uid\": \"12\", \"asset\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"pose\": {\"position\": [-4.0, 1.2, -0.72], \"quaternion\": [0.8838323025167301, 0.0009729358647704721, -0.0018476917893050218, -0.4677992095534478]}, \"material\": {\"reflection_roughness_constant\": 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[0.15154844060232509, 0.3546643895497077, 1.3277188247036753], \"center_light_orientation\": [0.8147070458064153, 0.0, 0.0, 0.5798727701085674]}, {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.240725263357405, 1.085191002022104, 0.0]}, \"light_radius\": 0.08988710376595663, \"light_length\": 1.3923210870722844, \"light_intensity\": 50000.0, \"light_color_temperature\": 7295.73689888001, \"center_light_postion\": [0.15154844060232509, 0.3546643895497077, 1.3277188247036753], \"center_light_orientation\": [0.8147070458064153, 0.0, 0.0, 0.5798727701085674]}, {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.085191002022104, 0.0]}, \"light_radius\": 0.08988710376595663, \"light_length\": 1.3923210870722844, \"light_intensity\": 50000.0, \"light_color_temperature\": 7295.73689888001, \"center_light_postion\": [0.15154844060232509, 0.3546643895497077, 1.3277188247036753], \"center_light_orientation\": [0.8147070458064153, 0.0, 0.0, 0.5798727701085674]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.240725263357405, 1.085191002022104, 0.0]}, \"light_radius\": 0.08988710376595663, \"light_length\": 1.3923210870722844, \"light_intensity\": 50000.0, \"light_color_temperature\": 7295.73689888001, \"center_light_postion\": [0.15154844060232509, 0.3546643895497077, 1.3277188247036753], \"center_light_orientation\": [0.8147070458064153, 0.0, 0.0, 0.5798727701085674]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 320.00000000000006, \"fx\": 320.00000000000006, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.2, 0.1], \"pose\": {\"position\": [0.0, 0.13, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Crepe_de_Chine.mdl\", \"name\": \"Silk_Crepe_de_Chine_Sky_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [0.6, 0.6, 0.1], \"pose\": {\"position\": [-0.86, 1.3, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"scene_info\": {}}, \"container_uid\": \"0\", \"object_hide_scene_spec\": {\"schema\": \"simple-object-hide-continuous-scene/v4-apple-world-yaw\", \"scene_uid\": \"hssd:scene6\", \"initial_physical_pose\": {\"position\": [-0.55, 0.65, 0.0], \"yaw_rad\": -0.8612020007585877}, \"apple_slot\": \"A\", \"apple_slots\": {\"A\": [0.18, -0.2], \"B\": [0.3, -0.1]}, \"apple_quaternion_wxyz\": [-0.4893339295621406, -0.0018709966903417902, -0.0009273297848942018, -0.8720939999851675], \"storage_box\": {\"position\": [-0.07, -0.2, 0.15], \"size\": [0.18, 0.34, 0.3], \"rgba\": [0.32, 0.23, 0.14, 1.0]}, \"roles\": {\"apple\": {\"layout_key\": \"target\", \"asset_id\": \"graspnet1b:12\", \"body_name\": \"apple\", \"stable_index\": 0, \"selected_cache_index\": 2, \"cache_reference_stable_index\": 0}, \"right_bottle\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"left_bottle\": {\"layout_key\": \"left_bottle\", \"asset_id\": \"graspnet1b:3\", \"body_name\": \"mustard_bottle\", \"stable_index\": 0, \"xy\": [-0.23, 0.12]}, \"container\": {\"layout_key\": \"container\", \"asset_id\": \"objects:0\", \"body_name\": \"brasket\", \"stable_index\": 0, \"position\": [-0.3, 0.52, 0.012], \"quaternion_wxyz\": [0.5, 0.5, 0.5, 0.5]}}, \"asset_change_from_preview005\": {\"role\": \"right_bottle\", \"from\": \"graspnet1b:34\", \"to\": \"graspnet1b:37\", \"reason\": \"Real mouth-rinse bottle has its own complete native dex3_right grasp cache; no cross-object grasp copying.\"}, \"observation_pose_event\": {\"name\": \"initial_apple_observation\", \"when\": \"after fresh reset and physically stable stand, before manipulation\", \"allowed_policy_cameras\": [\"head_stereo_left\", \"head_stereo_right\"], \"reference_viewpoint_is_reset_pose\": true, \"live_visibility_must_be_measured\": true, \"slot_A_static_preview_verified\": false, \"slot_B_static_preview_verified\": false}, \"return_decision_pose\": {\"xy\": [-0.78, 0.0], \"yaw_rad\": 0.0, \"must_be_reached_by_actions\": true}, \"bottle_approach\": {\"xy\": [-0.6, -0.42], \"yaw_rad\": 0.0, \"geometric_candidate_only\": true, \"recommended_arrival_tolerance_m\": 0.03}, \"bottle_approach_route\": [[-0.85, 0.65], [-0.85, -0.42], [-0.6, -0.42]], \"apple_approach_routes\": {\"A\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.2]], \"B\": [[-0.85, 0.0], [-0.85, -1.3], [0.75, -1.3], [0.75, -0.1]]}, \"apple_approach_yaw_rad\": 3.141592653589793, \"route_status\": \"Unexecuted geometric candidates. Use native actions and measured collision/upright/placement gates. Never teleport to a waypoint.\", \"initial_joint_positions\": {}, \"revision_notes\": {\"base_version\": \"v1; source remains unchanged\", \"container\": \"Reset-time container center moved to [-.30,.52,.012] for the tested hug relative geometry.\", \"initial_joint_positions\": \"Only left shoulder pitch -1.2 rad; native initial controller position and motor target are set together before simulation starts.\", \"static_geometry\": \"Independent MjData CPU audit found no initial robot-container, robot-table or robot-self negative contacts for this arm value.\", \"limits\": \"No dynamic stand, camera visibility, route, grasp or complete task success is proved by this configuration. Recalibrate both visual slots.\"}, \"bottle_revision\": {\"previous_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:37\", \"body_name\": \"mouth_rinse\", \"stable_index\": 0, \"xy\": [-0.23, -0.63]}, \"new_role\": {\"layout_key\": \"right_bottle\", \"asset_id\": \"graspnet1b:40\", \"body_name\": \"kispa_cleanser\", \"stable_index\": 3, \"xy\": [-0.23, -0.63], \"cache_reference_stable_index\": 0, \"selected_cache_index\": 5}, \"reason\": \"Fresh bottle candidate selected from its own existing cached grasp geometry.\", \"changed_at\": \"fresh reset only\", \"prior_episodes_unchanged\": true, \"physical_success\": false, \"cache_reorientation\": \"Object-relative transform uses cache_reference_stable_index; reset stable index sets physical initial pose only.\"}, \"calibration_status\": \"REQUIRES_FRESH_V4_A_B_RGB_CALIBRATION_NO_V2_TEMPLATES\", \"apple_yaw_revision\": {\"world_z_yaw_delta_rad\": -2.356194490192345, \"original_quaternion_wxyz\": [0.6184498092746575, 0.00014074157274812776, -0.0020834492926208315, -0.7858215273451058], \"operation\": \"Rz(delta) left-multiplied onto original world rotation, fresh reset only\", \"center_height_physics_unchanged\": true, \"base_version\": \"v3 asset40 stable3 cache5\", \"reference_slot\": \"A\", \"reference_slot_base_xy\": [0.55, -0.4], \"base_yaw_rad\": -2.903831073409709, \"stance_offset_from_selected_slot_xy\": [0.37000000000000005, -0.2], \"navigation_goal_offset_from_selected_slot_xy\": [0.35000000000000003, -0.2], \"navigation_yaw_rad\": 3.3415926535897933, \"evidence_files\": [], \"static_geometry_only\": true, \"physical_success\": false}}, \"scene_reset_count\": 1, \"initial_joint_configuration_receipt\": {\"requested\": {}, \"applied_native_controller_initial_targets\": {}, \"qpos_and_motor_written_by\": \"native G1.setup_control -> WholeBodyEEFController.set_initial_qpos -> PDJointPosController.set_initial_qpos\", \"called_before_engine_setup\": true, \"scene_helper_direct_state_writes\": 0}, \"bp2t\": {\"seed\": 9750119, \"blink_pad\": 3, \"appearance_seed\": 16750119, \"blink_offset_steps\": 26, \"source_episode\": \"blinkpad3-9750119\", \"variant\": \"touch\", \"dr_level\": 2, \"level_seed\": 19750128, \"level\": \"touch-L2\", \"pads\": {\"1\": [-0.1527, 0.558], \"2\": [-0.1314, 0.3966], \"3\": [-0.1803, 0.2414]}, \"randplace\": [-0.0003, 0.0214, 2.8106], \"handover_result\": null}}"}
diff --git a/TouchPad/meta/episodes_stats.jsonl b/TouchPad/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a1454a3139391670eb8713e3f2003614823a7692
--- /dev/null
+++ b/TouchPad/meta/episodes_stats.jsonl
@@ -0,0 +1,90 @@
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diff --git a/TouchPad/meta/info.json b/TouchPad/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c49d549beb40c11937381f1a51a69e626006ba5
--- /dev/null
+++ b/TouchPad/meta/info.json
@@ -0,0 +1,66 @@
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