Add validated baseline inference policy and simulation case

.gitattributes

@@ -58,3 +58,33 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
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baseline/flexiv-right-sharpa-125315-seed43-u1500/NOTICE.md

@@ -0,0 +1,25 @@
+# Provenance and external assets
+
+This repository contains project-owned inference and CPU simulation code
+from the verified baseline implementation. The numerical control path was
+preserved and independently compared against the frozen original implementation.
+Research documents, original Git history, training code, and experimental variants
+are not included.
+
+The optional native mjlab physics adapter is adapted from project-owned execution
+and sensing components.
+Only simulation, gravity, contact and state readout are included. No research
+environment, reward implementation or learner is imported by the runtime package.
+
+No blanket license grant is added by this extraction. Distribution of this private
+repository follows the owner's sharing permissions.
+
+NumPy, PyTorch, SciPy, MuJoCo, mjlab, MuJoCo-Warp and Warp are external dependencies under their respective
+upstream licenses. Their source trees are not vendored here. Original policy
+training used RSL-RL; this package does not include or require its learner.
+
+Robot models, meshes, motion references, and checkpoint files are external inputs.
+They retain their original ownership, license, and access conditions. A portable
+case export does not grant redistribution rights over those assets. Preserve any
+asset notices supplied with an authorized handoff. The provided code never
+uploads these inputs or simulation outputs.

baseline/flexiv-right-sharpa-125315-seed43-u1500/SHA256SUMS

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baseline/flexiv-right-sharpa-125315-seed43-u1500/case/candidates.json

@@ -0,0 +1,442 @@
+[
+  {
+    "index": 0,
+    "object": "G21_3",
+    "window_s": [
+      2.6833333333333336,
+      6.666666666666666
+    ],
+    "candidates": [
+      {
+        "finger": "thumb",
+        "finger_index": 0,
+        "valid": true,
+        "label_kind": "derived_contact_candidate",
+        "contact_label_valid": false,
+        "object_geom": "G21_3_collision_005",
+        "object_local_point": [
+          -0.008229448245201613,
+          -0.0494508607797125,
+          0.0015858830281230013
+        ],
+        "robot_geom": "right_thumb_elastomer__collision0",
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baseline/flexiv-right-sharpa-125315-seed43-u1500/case/case_manifest.json

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