Upload ten accepted RevoTron MT multimodal reference episodes

Shared native 60 Hz LeRobot v2.1 export: 10 episodes, 29,170 frames, 140 videos; official 0.3.3 reader, physical reports, padding and file hashes included.

README.md

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+---
+pretty_name: RevoBench Refactor — Ten Accepted Multimodal Episodes
+language:
+- en
+tags:
+- robotics
+- lerobot
+- tactile
+- simulation
+---
+
+# RevoBench-Refactor: ten-task reference batch
+
+This batch contains **10 accepted simulated demonstrations, 29,170 frames at 60 Hz, and 140 synchronized videos** (486.17 seconds of robot time). Each task contributes one complete episode. The robot is the new RevoTron with textured, calibrated Revo3 **MT** hands and the approved palm-facing **180° wrist fisheye** cameras. The previous fingertip optical calibration is retained.
+
+The format is **LeRobot v2.1**, validated with **LeRobot 0.3.3 / PyAV**. These are selected scripted reference executions, not a statistically measured success rate or a large training benchmark. The only split is `train`.
+
+## Episodes
+
+| Episode | Task | Frames | Seed | Randomized layout |
+|---:|---|---:|---:|:---:|
+| 0 | `hammer` | 1403 | 0 | no |
+| 1 | `plug_charger` | 2457 | 1 | yes |
+| 2 | `tray_carry` | 1676 | 1 | yes |
+| 3 | `pour_can` | 3720 | 1 | yes |
+| 4 | `cup_hang` | 3892 | 1 | yes |
+| 5 | `rotate_knob` | 2230 | 1 | yes |
+| 6 | `insert_pipette` | 2551 | 1 | yes |
+| 7 | `insert_peg` | 3033 | 1 | yes |
+| 8 | `kitchen` | 5424 | 1 | yes |
+| 9 | `power_drill` | 2784 | 4 | yes |
+
+English task instructions are in `meta/tasks.jsonl`. `meta/batch_provenance.json` maps every episode to its original recording. Episode, global-frame, task and tactile-target indices were assigned by the shared exporter; the original per-task datasets remain preserved separately.
+
+## Recorded fields
+
+Use `meta/info.json` for exact feature names, shapes and joint ordering.
+
+| Fields | Shape per frame / interpretation |
+|---|---|
+| `observation.state`, `action` | `[56]`, measured joint positions and absolute joint commands in radians; observations precede the corresponding command |
+| `observation.images.head`, `.wrist_left`, `.wrist_right`, `.overview` | Four RGB videos; the two wrist cameras use 180° fisheye projection |
+| `observation.images.tactile_{side}_{finger}` | Ten optical tactile RGB videos, five per hand |
+| `observation.tactile_depth.{side}_{finger}` | `[1,240,320]` numeric float32 optical overlap depth in metres |
+| `observation.tactile_marker.{side}_{finger}` | `[100,3]` float32 marker displacement in DIP-local coordinates, metres |
+| `observation.tactile_marker_valid.{side}_{finger}` | `[100]` fixed boolean calibration validity mask |
+| `observation.tactile_pressure.{side}_{region}` | MT regional response vectors, **451 channels per hand** |
+| `observation.tactile_tip_wrench.{side}_fingers` | `[5,6]` normal plus friction forces and moments about the DIP origin, in DIP-local coordinates; N and N m |
+| `observation.tactile_target_id` | `[1]` dataset-wide target ID; resolve through `meta/tactile_targets.json` |
+
+Sides are `left` and `right`; fingers are `thumb`, `index`, `middle`, `ring`, `pinky`. Pressure has thumb regions of 31+57 channels, four finger regions of 21+52 each, and 71 palm channels. It is a nonnegative response after column-normalized spatial diffusion, **not Pa or N**, and can exceed 1. Do not clip it to [0,1]. The tactile backend observes one explicitly identified target at a time, not all scene contacts. Per-episode `target_mapping.json` maps original raw target slots to dataset-wide IDs.
+
+Gains are configuration, not action dimensions. Every task uses hand stiffness/damping 80/8, arm stiffness `[600,600,600,450,450,300,300]` and arm damping 30. Recording/control run at 60 Hz; physics runs at 480 Hz.
+
+## Reading the data
+
+Authenticate with an account permitted to read this private dataset (`hf auth login`). Use the pinned LeRobot 0.3.3 reader environment documented in the [code repository](https://github.com/DavidLXu/RevoBench-Refactor/tree/c2646255984794f755e391c18e58c745c63e198e). The snippet downloads a fixed format tag, then loads local files:
+
+```python
+from huggingface_hub import snapshot_download
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+repo_id = "DavidLXu/RevoBench-Refactor"
+root = snapshot_download(repo_id, repo_type="dataset", revision="v2.1")
+dataset = LeRobotDataset(
+    repo_id,
+    root=root,
+    download_videos=False,
+    video_backend="pyav",
+    delta_timestamps={"action": [i / 60 for i in range(16)]},
+)
+sample = dataset[0]
+print(sample["observation.state"].shape)  # torch.Size([56])
+print(sample["action"].shape)             # torch.Size([16, 56])
+```
+
+For an immutable experiment, replace `v2.1` with this dataset's full Hub commit SHA. Preserve episode boundaries and use `action_is_pad` when training with action chunks. The official reader has been checked at the start, middle and end of all ten episodes, including repeated final-action padding.
+
+## Evidence and scope
+
+`meta/validation_summary.json` contains combined-dataset numeric and official-reader validation. The exporter decoded every video to check all frame counts and timestamps. `meta/episodes/episode_XXXXXX/` preserves the original raw manifest, physical report, calibration hashes and target mapping. `meta/acceptance/` contains the selected task acceptance, randomized-layout evidence and individual physical, motion and visual reviews. `meta/file_manifest.json` records payload sizes and SHA-256 hashes, excluding itself.
+
+These recordings share optical model `physical_geometry_optical_intervals_v1_candidate`. Numeric depth represents the connected target overlap along a calibrated ray at its gel-surface endpoint; it is not measured normal silicone indentation. The tray uses its closed authored source surface rather than the cooked PhysX SDF grid. Real-sensor fidelity has not been established. In the selected tray episode, thumb contact is on the shell outside the calibrated gel, so zero thumb optical response is valid.
+
+`pour_can` uses the versioned granular surrogate `pour_can_opened_granular_v2_cavity_frame`; its containment predicate remains provisional and does not assert that every particle reaches the bowl. `insert_pipette` ends with the inserted tube still held. `power_drill` demonstrates pickup, non-contact board alignment and upright replacement/release; it does not simulate spindle rotation or drilling.
+
+Code and reproduction: [RevoBench-Refactor at c264625](https://github.com/DavidLXu/RevoBench-Refactor/tree/c2646255984794f755e391c18e58c745c63e198e), [recording instructions](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/REPRODUCE.md), [sensor contract](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/SENSOR_MODEL.md), [physical criteria](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/VALIDATION.md).
+
+Robot, task assets, textures and calibration retain their respective upstream provenance; no new blanket asset license is asserted here. See [third-party notices](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/THIRD_PARTY.md). This upload includes recorded data and evidence, not the full simulation asset bundle.

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meta/acceptance/cup_hang/command_continuity.json

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+{
+  "dataset": "/home/lixin/RevoBench-refactor/outputs/cup_supported_setdown_generic_full_001/lerobot",
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 3892,
+      "duration_s": 64.86666666666666,
+      "max_command_step_rad": 0.04655176401138306,
+      "peak_joint_speed_rad_s": 2.793148460746166,
+      "peak_joint_acceleration_rad_s2": 24.631053160518118,
+      "p99_frame_peak_speed_rad_s": 1.328873352494028,
+      "command_holds_over_250ms": [],
+      "command_hold_total_s": 0
+    }
+  ],
+  "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness."
+}

meta/acceptance/cup_hang/local_video_decode.json

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+{
+  "passed": true,
+  "videos": [
+    {
+      "file": "observation.images.head.mp4",
+      "frames": 3892,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.overview.mp4",
+      "frames": 3892,
+      "max_timestamp_error_s": 0.0
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+    {
+      "file": "observation.images.tactile_left_index.mp4",
+      "frames": 3892,
+      "max_timestamp_error_s": 0.0
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+    {
+      "file": "observation.images.tactile_left_middle.mp4",
+      "frames": 3892,
+      "max_timestamp_error_s": 0.0
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+    {
+      "file": "observation.images.tactile_left_pinky.mp4",
+      "frames": 3892,
+      "max_timestamp_error_s": 0.0
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+    {
+      "file": "observation.images.tactile_left_ring.mp4",
+      "frames": 3892,
+      "max_timestamp_error_s": 0.0
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+    {
+      "file": "observation.images.tactile_left_thumb.mp4",
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+      "file": "observation.images.tactile_right_index.mp4",
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+  ],
+  "total_decoded_frames": 54488
+}

meta/acceptance/cup_hang/physical_report.json

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+{
+  "physical_success": true,
+  "controller": {
+    "success": true,
+    "verification_seconds": 5.0,
+    "stable_samples": 100,
+    "verification_samples": 100,
+    "settled_window": {
+      "success": true,
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+      "cup_axis_excursion_deg": 0.06047491898689111,
+      "hand_contact_force_max_n": 0.0,
+      "support_force_min_n": 1.7528207302093506,
+      "support_force_mean_n": 1.8325703144073486,
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+      "tip_height_from_bottom_range_m": [
+        0.07106495195929673,
+        0.07107156429030496
+      ],
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+      "angular_velocity_peak_rad_s": 0.04058301821351051
+    },
+    "rack_displacement_m": 0.011734253726899624,
+    "rack_disturbance_within_2cm": true,
+    "final_measurements": {
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+      "tip_radial_offset_m": 0.024112522415554994,
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+    },
+    "events": [
+      {
+        "phase": "pregrasp",
+        "simulation_time_s": 0.0
+      },
+      {
+        "phase": "approach",
+        "simulation_time_s": 1.6666666666666667
+      },
+      {
+        "phase": "close",
+        "simulation_time_s": 4.0
+      },
+      {
+        "phase": "lift",
+        "simulation_time_s": 8.666666666666666,
+        "lift_height_m": 0.187100350856781,
+        "contact_forces_n": [
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+          18.8920955657959,
+          17.951494216918945,
+          12.231180191040039,
+          1.0404139757156372
+        ]
+      },
+      {
+        "phase": "raise_clear_of_rack",
+        "simulation_time_s": 12.0,
+        "position_tracking_error_m": 0.001248043713469479,
+        "axis_tracking_error_deg": 0.2054554577203936
+      },
+      {
+        "phase": "move_to_turn_workspace",
+        "simulation_time_s": 16.0,
+        "position_tracking_error_m": 0.001956902300695976,
+        "axis_tracking_error_deg": 0.28621151881008283,
+        "servo_iterations": 107
+      },
+      {
+        "phase": "turn_cup",
+        "simulation_time_s": 23.133333333333333
+      },
+      {
+        "phase": "align_with_branch",
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+        "position_tracking_error_m": 0.0019164072469378497,
+        "axis_tracking_error_deg": 0.14208650890360747,
+        "servo_iterations": 77
+      },
+      {
+        "phase": "insert",
+        "simulation_time_s": 35.266666666666666,
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+        "tip_height_from_bottom_m": 0.05656641746292478,
+        "tip_radial_offset_m": 0.022639830131655277,
+        "support_force_n": 2.7998132705688477,
+        "servo_iterations": 204
+      },
+      {
+        "phase": "seat_on_branch",
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+        "tip_depth_from_rim_m": 0.04892023497325655,
+        "tip_height_from_bottom_m": 0.06907976502674344,
+        "tip_radial_offset_m": 0.023942749443824428,
+        "support_force_n": 4.161101818084717
+      },
+      {
+        "phase": "release_and_withdraw",
+        "simulation_time_s": 50.86666666666667
+      },
+      {
+        "phase": "clear_hand",
+        "simulation_time_s": 53.86666666666667,
+        "hand_force_n": 0.0
+      },
+      {
+        "phase": "verify_free_support",
+        "simulation_time_s": 56.86666666666667
+      }
+    ],
+    "object_pose_writes_during_policy": 0,
+    "control_hz": 60.0,
+    "scope": "Existing cup-holder pair; lower branch facing the initial cup."
+  },
+  "validation": {
+    "success": true,
+    "samples": 100,
+    "supported_samples": 100,
+    "position_span_m": 0.0001592201297171414,
+    "cup_axis_excursion_deg": 0.06047491898689111,
+    "hand_contact_force_max_n": 0.0,
+    "support_force_min_n": 1.7528207302093506,
+    "support_force_mean_n": 1.8325703144073486,
+    "tip_radial_offset_max_m": 0.02411424161230666,
+    "tip_height_from_bottom_range_m": [
+      0.07106495195929673,
+      0.07107156429030496
+    ],
+    "cup_lift_min_m": 0.2559061646461487,
+    "linear_velocity_peak_m_s": 0.0015794672071933746,
+    "angular_velocity_peak_rad_s": 0.04058301821351051
+  },
+  "complete_window": true,
+  "control_hz": 60,
+  "physics_hz": 480,
+  "physical_trace_timing": "after corresponding action",
+  "task_physics": {
+    "cup_free": true,
+    "rack_free": true,
+    "gain_changes": false
+  },
+  "termination_reason": "source_finished"
+}

meta/acceptance/cup_hang/recording_identity.json

@@ -0,0 +1,277 @@
+{
+  "task": "cup_hang",
+  "frames": 3892,
+  "fps": 60,
+  "pilot": false,
+  "contact_contract": {
+    "targets": [
+      "cup_forest_green"
+    ],
+    "target_paths": [
+      "/World/envs/env_.*/Objects/cup_forest_green"
+    ],
+    "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts",
+    "frame": "DIP_Link local frame",
+    "origin": "DIP_Link origin",
+    "wrench_units": [
+      "N",
+      "N",
+      "N",
+      "N*m",
+      "N*m",
+      "N*m"
+    ],
+    "marker_units": "m",
+    "depth_units": "m",
+    "pressure_units": "nonnegative post-diffusion response, not Pa or N",
+    "finger_order": [
+      "thumb",
+      "index",
+      "middle",
+      "ring",
+      "pinky"
+    ],
+    "pressure_region_order": {
+      "left": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ],
+      "right": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ]
+    },
+    "physics_dt": 0.0020833333333333333,
+    "tactile_history_hz": 60,
+    "normal_force_sum_checked_every_frame": true
+  },
+  "optical_contact_model": {
+    "id": "physical_geometry_optical_intervals_v1_candidate",
+    "targets": {
+      "cup_forest_green": {
+        "path": "/World/envs/env_0/Objects/cup_forest_green",
+        "geometry_file": "optical_geometry/cup_forest_green.json",
+        "sha256": "e23febde6eb8a20117b412ce046494725d2a1b5579e152253cfc4244ab2bbf35",
+        "convex_hulls": 16,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      }
+    },
+    "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid"
+  },
+  "robot_configuration": {
+    "max_depenetration_velocity": 1000.0,
+    "disable_gravity": true,
+    "effort_limits": {
+      "right_arm": {
+        "Joint1_R": 600.0,
+        "Joint2_R": 600.0,
+        "Joint3_R": 600.0,
+        "Joint4_R": 600.0,
+        "Joint5_R": 200.0,
+        "Joint6_R": 200.0,
+        "Joint7_R": 200.0
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 5.0,
+        "right_thumb_CMR_joint": 5.0,
+        "right_thumb_MCP_joint": 5.0,
+        "right_thumb_PIP_joint": 5.0,
+        "right_thumb_DIP_joint": 5.0,
+        "right_index_MPR_joint": 5.0,
+        "right_index_MCP_joint": 5.0,
+        "right_index_PIP_joint": 5.0,
+        "right_index_DIP_joint": 5.0,
+        "right_middle_MPR_joint": 5.0,
+        "right_middle_MCP_joint": 5.0,
+        "right_middle_PIP_joint": 5.0,
+        "right_middle_DIP_joint": 5.0,
+        "right_ring_MPR_joint": 5.0,
+        "right_ring_MCP_joint": 5.0,
+        "right_ring_PIP_joint": 5.0,
+        "right_ring_DIP_joint": 5.0,
+        "right_little_MPR_joint": 5.0,
+        "right_little_MCP_joint": 5.0,
+        "right_little_PIP_joint": 5.0,
+        "right_little_DIP_joint": 5.0
+      },
+      "left_arm": {
+        "Joint1_L": 600.0,
+        "Joint2_L": 600.0,
+        "Joint3_L": 600.0,
+        "Joint4_L": 600.0,
+        "Joint5_L": 200.0,
+        "Joint6_L": 200.0,
+        "Joint7_L": 200.0
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 5.0,
+        "left_thumb_CMR_joint": 5.0,
+        "left_thumb_MCP_joint": 5.0,
+        "left_thumb_PIP_joint": 5.0,
+        "left_thumb_DIP_joint": 5.0,
+        "left_index_MPR_joint": 5.0,
+        "left_index_MCP_joint": 5.0,
+        "left_index_PIP_joint": 5.0,
+        "left_index_DIP_joint": 5.0,
+        "left_middle_MPR_joint": 5.0,
+        "left_middle_MCP_joint": 5.0,
+        "left_middle_PIP_joint": 5.0,
+        "left_middle_DIP_joint": 5.0,
+        "left_ring_MPR_joint": 5.0,
+        "left_ring_MCP_joint": 5.0,
+        "left_ring_PIP_joint": 5.0,
+        "left_ring_DIP_joint": 5.0,
+        "left_little_MPR_joint": 5.0,
+        "left_little_MCP_joint": 5.0,
+        "left_little_PIP_joint": 5.0,
+        "left_little_DIP_joint": 5.0
+      }
+    },
+    "velocity_limits": {
+      "right_arm": {
+        "Joint1_R": 6.2832,
+        "Joint2_R": 6.2832,
+        "Joint3_R": 6.2832,
+        "Joint4_R": 6.2832,
+        "Joint5_R": 6.2832,
+        "Joint6_R": 6.2832,
+        "Joint7_R": 6.2832
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 10.0,
+        "right_thumb_CMR_joint": 10.0,
+        "right_thumb_MCP_joint": 10.0,
+        "right_thumb_PIP_joint": 10.0,
+        "right_thumb_DIP_joint": 10.0,
+        "right_index_MPR_joint": 10.0,
+        "right_index_MCP_joint": 10.0,
+        "right_index_PIP_joint": 10.0,
+        "right_index_DIP_joint": 10.0,
+        "right_middle_MPR_joint": 10.0,
+        "right_middle_MCP_joint": 10.0,
+        "right_middle_PIP_joint": 10.0,
+        "right_middle_DIP_joint": 10.0,
+        "right_ring_MPR_joint": 10.0,
+        "right_ring_MCP_joint": 10.0,
+        "right_ring_PIP_joint": 10.0,
+        "right_ring_DIP_joint": 10.0,
+        "right_little_MPR_joint": 10.0,
+        "right_little_MCP_joint": 10.0,
+        "right_little_PIP_joint": 10.0,
+        "right_little_DIP_joint": 10.0
+      },
+      "left_arm": {
+        "Joint1_L": 6.2832,
+        "Joint2_L": 6.2832,
+        "Joint3_L": 6.2832,
+        "Joint4_L": 6.2832,
+        "Joint5_L": 6.2832,
+        "Joint6_L": 6.2832,
+        "Joint7_L": 6.2832
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 10.0,
+        "left_thumb_CMR_joint": 10.0,
+        "left_thumb_MCP_joint": 10.0,
+        "left_thumb_PIP_joint": 10.0,
+        "left_thumb_DIP_joint": 10.0,
+        "left_index_MPR_joint": 10.0,
+        "left_index_MCP_joint": 10.0,
+        "left_index_PIP_joint": 10.0,
+        "left_index_DIP_joint": 10.0,
+        "left_middle_MPR_joint": 10.0,
+        "left_middle_MCP_joint": 10.0,
+        "left_middle_PIP_joint": 10.0,
+        "left_middle_DIP_joint": 10.0,
+        "left_ring_MPR_joint": 10.0,
+        "left_ring_MCP_joint": 10.0,
+        "left_ring_PIP_joint": 10.0,
+        "left_ring_DIP_joint": 10.0,
+        "left_little_MPR_joint": 10.0,
+        "left_little_MCP_joint": 10.0,
+        "left_little_PIP_joint": 10.0,
+        "left_little_DIP_joint": 10.0
+      }
+    }
+  },
+  "seed": 1,
+  "placement": {
+    "seed": 1,
+    "translation_m": [
+      0.0002364324940051371,
+      0.00900927392651868,
+      0.0
+    ],
+    "group": [
+      "cup_holder",
+      "cup_forest_green"
+    ],
+    "attempts": [
+      {
+        "translation_m": [
+          0.0002364324940051371,
+          0.00900927392651868,
+          0.0
+        ],
+        "accepted": true,
+        "reason": "Cup pregrasp/grasp/lift IK and open approach clearance passed"
+      }
+    ],
+    "static_fixtures": [],
+    "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds"
+  },
+  "shared_configuration": "../shared_configuration.json",
+  "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437",
+  "reference_run": "cup_supported_setdown_generic_full_001",
+  "final_release_verified": true,
+  "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.",
+  "preview_frame": 3000,
+  "preview_camera": "overview",
+  "motion_report_included": true,
+  "original_manifest_sha256": "e40b1c0b9a663782b9274586ab2c34e7a1c6e03ac4c099086bdae1b15f2b50ee",
+  "files": {
+    "physical_report.json": {
+      "source": "outputs/cup_supported_setdown_generic_full_001/collection/raw/physical_report.json",
+      "sha256": "f729e3d3aae90192a333eee4cfcebd1827efb81df697040874dc9726381c2d6a"
+    },
+    "validation_summary.json": {
+      "source": "outputs/cup_supported_setdown_generic_full_001/lerobot/meta/validation_summary.json",
+      "sha256": "c8788f8a3253de2c2f0fcec25dcfd4ed0749199a4042bd80fbd40999cba1e2ca"
+    },
+    "preview.jpg": {
+      "source": "outputs/ten_task_reference_gallery_009/cup_hang.jpg",
+      "sha256": "8006788db643bdcfa7a81294d8192754178f1cc4674d75708a4e64bd3c52c97c"
+    },
+    "command_continuity.json": {
+      "source": "outputs/cup_supported_setdown_generic_full_001/command_continuity.json",
+      "sha256": "5e58262fb21ded264ad490f52439b0477c8c8c6000068dcf779d606af475f6ba"
+    },
+    "visual_review.json": {
+      "source": "outputs/cup_supported_setdown_generic_full_001/diagnostics/visual_review.json",
+      "sha256": "8f088f2982e60f0c449bda8ac2654759adf14c9e0c133c6c7feea4cadca82d5e"
+    },
+    "local_video_decode.json": {
+      "source": "outputs/cup_supported_setdown_generic_full_001/diagnostics/local_video_decode.json",
+      "sha256": "6ace806be3b7b980e0b910d569fb345d41065756221a85f03767b0bfa4d72ced"
+    }
+  }
+}

meta/acceptance/cup_hang/validation_summary.json

@@ -0,0 +1,62 @@
+{
+  "loader": "lerobot 0.3.3 / pyav",
+  "pilot": false,
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 3892,
+      "physical_success": true,
+      "peaks": {
+        "observation.tactile_target_id": 0.0,
+        "observation.tactile_depth.left_thumb": 0.0,
+        "observation.tactile_marker.left_thumb": 0.0,
+        "observation.tactile_depth.left_index": 0.0,
+        "observation.tactile_marker.left_index": 0.0,
+        "observation.tactile_depth.left_middle": 0.0,
+        "observation.tactile_marker.left_middle": 0.0,
+        "observation.tactile_depth.left_ring": 0.0,
+        "observation.tactile_marker.left_ring": 0.0,
+        "observation.tactile_depth.left_pinky": 0.0,
+        "observation.tactile_marker.left_pinky": 0.0,
+        "observation.tactile_pressure.left_middle_fingertip": 0.0,
+        "observation.tactile_pressure.left_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.left_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.left_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.left_index_fingertip": 0.0,
+        "observation.tactile_pressure.left_index_fingerpad": 0.0,
+        "observation.tactile_pressure.left_ring_fingertip": 0.0,
+        "observation.tactile_pressure.left_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.left_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.left_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.left_palm": 0.0,
+        "observation.tactile_tip_wrench.left_fingers": 0.0,
+        "observation.tactile_depth.right_thumb": 0.005001786630600691,
+        "observation.tactile_marker.right_thumb": 0.00035808442044071853,
+        "observation.tactile_depth.right_index": 0.0036550192162394524,
+        "observation.tactile_marker.right_index": 0.0008712719427421689,
+        "observation.tactile_depth.right_middle": 0.004125014878809452,
+        "observation.tactile_marker.right_middle": 0.0020174281671643257,
+        "observation.tactile_depth.right_ring": 0.003950603771954775,
+        "observation.tactile_marker.right_ring": 0.0019017616286873817,
+        "observation.tactile_depth.right_pinky": 0.0038886358961462975,
+        "observation.tactile_marker.right_pinky": 0.0017414591275155544,
+        "observation.tactile_pressure.right_middle_fingertip": 0.0,
+        "observation.tactile_pressure.right_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.right_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.right_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.right_index_fingertip": 0.0,
+        "observation.tactile_pressure.right_index_fingerpad": 0.8248653411865234,
+        "observation.tactile_pressure.right_ring_fingertip": 0.0,
+        "observation.tactile_pressure.right_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.right_pinky_fingertip": 0.9592034816741943,
+        "observation.tactile_pressure.right_pinky_fingerpad": 0.26676198840141296,
+        "observation.tactile_pressure.right_palm": 0.0,
+        "observation.tactile_tip_wrench.right_fingers": 59.452964782714844
+      }
+    }
+  ],
+  "frames": 3892,
+  "action_horizon": 16,
+  "boundary_padding_verified": true,
+  "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here"
+}

meta/acceptance/cup_hang/visual_review.json

@@ -0,0 +1,16 @@
+{
+  "actual_images_reviewed": [
+    "../frames/overview_3000.jpg",
+    "../frames/overview_3800.jpg",
+    "../frames/wrist_right_1600.jpg",
+    "../frames/wrist_left_3000.jpg"
+  ],
+  "observations": [
+    "New RevoTron body with textured MT hands is present.",
+    "Overview shows seated cup and subsequent open right hand clear of the cup; cup remains on the rack.",
+    "Both wrist views retain the circular 180-degree palm-facing layout. Active hand holds the cup close to its wrist camera; object occlusion is expected."
+  ],
+  "review_method": "Decoded actual recorded video frames. Browser UI is disabled; no browser playback verification claimed.",
+  "physical_evidence": "../collection/diagnostics/main_oracle_revalidation.json",
+  "all_video_decode": "local_video_decode.json"
+}

meta/acceptance/hammer/command_continuity.json

@@ -0,0 +1,17 @@
+{
+  "dataset": "/home/lixin/RevoBench-refactor/outputs/hammer_generic_full_001/lerobot",
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 1403,
+      "duration_s": 23.383333333333333,
+      "max_command_step_rad": 0.03761745884548873,
+      "peak_joint_speed_rad_s": 2.257081971067017,
+      "peak_joint_acceleration_rad_s2": 23.839557514209986,
+      "p99_frame_peak_speed_rad_s": 1.7380444659186505,
+      "command_holds_over_250ms": [],
+      "command_hold_total_s": 0
+    }
+  ],
+  "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness."
+}

meta/acceptance/hammer/local_video_decode.json

@@ -0,0 +1,76 @@
+{
+  "passed": true,
+  "videos": [
+    {
+      "file": "observation.images.head.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.overview.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_index.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_middle.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_pinky.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_ring.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_thumb.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_index.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_middle.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_pinky.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_ring.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_thumb.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_left.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_right.mp4",
+      "frames": 1403,
+      "max_timestamp_error_s": 0.0
+    }
+  ],
+  "scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate."
+}

meta/acceptance/hammer/recording_identity.json

@@ -0,0 +1,253 @@
+{
+  "task": "hammer",
+  "frames": 1403,
+  "fps": 60,
+  "pilot": false,
+  "contact_contract": {
+    "targets": [
+      "hammer_pair_hammer"
+    ],
+    "target_paths": [
+      "/World/envs/env_.*/Objects/hammer_pair_hammer"
+    ],
+    "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts",
+    "frame": "DIP_Link local frame",
+    "origin": "DIP_Link origin",
+    "wrench_units": [
+      "N",
+      "N",
+      "N",
+      "N*m",
+      "N*m",
+      "N*m"
+    ],
+    "marker_units": "m",
+    "depth_units": "m",
+    "pressure_units": "nonnegative post-diffusion response, not Pa or N",
+    "finger_order": [
+      "thumb",
+      "index",
+      "middle",
+      "ring",
+      "pinky"
+    ],
+    "pressure_region_order": {
+      "left": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ],
+      "right": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ]
+    },
+    "physics_dt": 0.0020833333333333333,
+    "tactile_history_hz": 60,
+    "normal_force_sum_checked_every_frame": true
+  },
+  "optical_contact_model": {
+    "id": "physical_geometry_optical_intervals_v1_candidate",
+    "targets": {
+      "hammer_pair_hammer": {
+        "path": "/World/envs/env_0/Objects/hammer_pair_hammer",
+        "geometry_file": "optical_geometry/hammer_pair_hammer.json",
+        "sha256": "82c9a60efab7cca5c87c9754ab4c2b7c4929d630abe3881b239d7c776b4cb11a",
+        "convex_hulls": 154,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      }
+    },
+    "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid"
+  },
+  "robot_configuration": {
+    "max_depenetration_velocity": 1000.0,
+    "disable_gravity": true,
+    "effort_limits": {
+      "right_arm": {
+        "Joint1_R": 600.0,
+        "Joint2_R": 600.0,
+        "Joint3_R": 600.0,
+        "Joint4_R": 600.0,
+        "Joint5_R": 200.0,
+        "Joint6_R": 200.0,
+        "Joint7_R": 200.0
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 5.0,
+        "right_thumb_CMR_joint": 5.0,
+        "right_thumb_MCP_joint": 5.0,
+        "right_thumb_PIP_joint": 5.0,
+        "right_thumb_DIP_joint": 5.0,
+        "right_index_MPR_joint": 5.0,
+        "right_index_MCP_joint": 5.0,
+        "right_index_PIP_joint": 5.0,
+        "right_index_DIP_joint": 5.0,
+        "right_middle_MPR_joint": 5.0,
+        "right_middle_MCP_joint": 5.0,
+        "right_middle_PIP_joint": 5.0,
+        "right_middle_DIP_joint": 5.0,
+        "right_ring_MPR_joint": 5.0,
+        "right_ring_MCP_joint": 5.0,
+        "right_ring_PIP_joint": 5.0,
+        "right_ring_DIP_joint": 5.0,
+        "right_little_MPR_joint": 5.0,
+        "right_little_MCP_joint": 5.0,
+        "right_little_PIP_joint": 5.0,
+        "right_little_DIP_joint": 5.0
+      },
+      "left_arm": {
+        "Joint1_L": 600.0,
+        "Joint2_L": 600.0,
+        "Joint3_L": 600.0,
+        "Joint4_L": 600.0,
+        "Joint5_L": 200.0,
+        "Joint6_L": 200.0,
+        "Joint7_L": 200.0
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 5.0,
+        "left_thumb_CMR_joint": 5.0,
+        "left_thumb_MCP_joint": 5.0,
+        "left_thumb_PIP_joint": 5.0,
+        "left_thumb_DIP_joint": 5.0,
+        "left_index_MPR_joint": 5.0,
+        "left_index_MCP_joint": 5.0,
+        "left_index_PIP_joint": 5.0,
+        "left_index_DIP_joint": 5.0,
+        "left_middle_MPR_joint": 5.0,
+        "left_middle_MCP_joint": 5.0,
+        "left_middle_PIP_joint": 5.0,
+        "left_middle_DIP_joint": 5.0,
+        "left_ring_MPR_joint": 5.0,
+        "left_ring_MCP_joint": 5.0,
+        "left_ring_PIP_joint": 5.0,
+        "left_ring_DIP_joint": 5.0,
+        "left_little_MPR_joint": 5.0,
+        "left_little_MCP_joint": 5.0,
+        "left_little_PIP_joint": 5.0,
+        "left_little_DIP_joint": 5.0
+      }
+    },
+    "velocity_limits": {
+      "right_arm": {
+        "Joint1_R": 6.2832,
+        "Joint2_R": 6.2832,
+        "Joint3_R": 6.2832,
+        "Joint4_R": 6.2832,
+        "Joint5_R": 6.2832,
+        "Joint6_R": 6.2832,
+        "Joint7_R": 6.2832
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 10.0,
+        "right_thumb_CMR_joint": 10.0,
+        "right_thumb_MCP_joint": 10.0,
+        "right_thumb_PIP_joint": 10.0,
+        "right_thumb_DIP_joint": 10.0,
+        "right_index_MPR_joint": 10.0,
+        "right_index_MCP_joint": 10.0,
+        "right_index_PIP_joint": 10.0,
+        "right_index_DIP_joint": 10.0,
+        "right_middle_MPR_joint": 10.0,
+        "right_middle_MCP_joint": 10.0,
+        "right_middle_PIP_joint": 10.0,
+        "right_middle_DIP_joint": 10.0,
+        "right_ring_MPR_joint": 10.0,
+        "right_ring_MCP_joint": 10.0,
+        "right_ring_PIP_joint": 10.0,
+        "right_ring_DIP_joint": 10.0,
+        "right_little_MPR_joint": 10.0,
+        "right_little_MCP_joint": 10.0,
+        "right_little_PIP_joint": 10.0,
+        "right_little_DIP_joint": 10.0
+      },
+      "left_arm": {
+        "Joint1_L": 6.2832,
+        "Joint2_L": 6.2832,
+        "Joint3_L": 6.2832,
+        "Joint4_L": 6.2832,
+        "Joint5_L": 6.2832,
+        "Joint6_L": 6.2832,
+        "Joint7_L": 6.2832
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 10.0,
+        "left_thumb_CMR_joint": 10.0,
+        "left_thumb_MCP_joint": 10.0,
+        "left_thumb_PIP_joint": 10.0,
+        "left_thumb_DIP_joint": 10.0,
+        "left_index_MPR_joint": 10.0,
+        "left_index_MCP_joint": 10.0,
+        "left_index_PIP_joint": 10.0,
+        "left_index_DIP_joint": 10.0,
+        "left_middle_MPR_joint": 10.0,
+        "left_middle_MCP_joint": 10.0,
+        "left_middle_PIP_joint": 10.0,
+        "left_middle_DIP_joint": 10.0,
+        "left_ring_MPR_joint": 10.0,
+        "left_ring_MCP_joint": 10.0,
+        "left_ring_PIP_joint": 10.0,
+        "left_ring_DIP_joint": 10.0,
+        "left_little_MPR_joint": 10.0,
+        "left_little_MCP_joint": 10.0,
+        "left_little_PIP_joint": 10.0,
+        "left_little_DIP_joint": 10.0
+      }
+    }
+  },
+  "seed": 0,
+  "placement": null,
+  "shared_configuration": "../shared_configuration.json",
+  "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437",
+  "reference_run": "hammer_generic_full_001",
+  "final_release_verified": true,
+  "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.",
+  "preview_frame": 1050,
+  "preview_camera": "overview",
+  "motion_report_included": true,
+  "original_manifest_sha256": "169e4911251736d2088c93a0d681692d815fc323fbf3dcf3a360d343ff6434a8",
+  "files": {
+    "physical_report.json": {
+      "source": "outputs/hammer_generic_full_001/collection/raw/physical_report.json",
+      "sha256": "f2bd3de2479836a95c93af174f1775854e8ea7712cb26f7416747b1a60a6ed52"
+    },
+    "validation_summary.json": {
+      "source": "outputs/hammer_generic_full_001/lerobot/meta/validation_summary.json",
+      "sha256": "2a8946015dba1b0c88a5c3ec8467e25229791d079f260791d7043c3ee3480161"
+    },
+    "preview.jpg": {
+      "source": "outputs/ten_task_reference_gallery_009/hammer.jpg",
+      "sha256": "b7ab764d7ada3d9af084f82af84f863f966c313e9e96efb97c6ec15cdcfd2d3e"
+    },
+    "command_continuity.json": {
+      "source": "outputs/hammer_generic_full_001/command_continuity.json",
+      "sha256": "b9acfbd410cd060f501f073de2016a8b049a8aef55367ac1f4129abe1f69717d"
+    },
+    "visual_review.json": {
+      "source": "outputs/hammer_generic_full_001/diagnostics/visual_review.json",
+      "sha256": "1bb7aac64871642b3c85dd2bce0921eb5c4a77b75a8b20798c31ad486b429c12"
+    },
+    "local_video_decode.json": {
+      "source": "outputs/hammer_generic_full_001/diagnostics/local_video_decode.json",
+      "sha256": "93551cb9a1e5ad482cd7c3abf4548fc0e046a1a81313eacd2c2e0a339c3b54e1"
+    }
+  }
+}

meta/acceptance/hammer/validation_summary.json

@@ -0,0 +1,62 @@
+{
+  "loader": "lerobot 0.3.3 / pyav",
+  "pilot": false,
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 1403,
+      "physical_success": true,
+      "peaks": {
+        "observation.tactile_target_id": 0.0,
+        "observation.tactile_depth.left_thumb": 0.0,
+        "observation.tactile_marker.left_thumb": 0.0,
+        "observation.tactile_depth.left_index": 0.0,
+        "observation.tactile_marker.left_index": 0.0,
+        "observation.tactile_depth.left_middle": 0.0,
+        "observation.tactile_marker.left_middle": 0.0,
+        "observation.tactile_depth.left_ring": 0.0,
+        "observation.tactile_marker.left_ring": 0.0,
+        "observation.tactile_depth.left_pinky": 0.0,
+        "observation.tactile_marker.left_pinky": 0.0,
+        "observation.tactile_pressure.left_middle_fingertip": 0.0,
+        "observation.tactile_pressure.left_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.left_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.left_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.left_index_fingertip": 0.0,
+        "observation.tactile_pressure.left_index_fingerpad": 0.0,
+        "observation.tactile_pressure.left_ring_fingertip": 0.0,
+        "observation.tactile_pressure.left_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.left_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.left_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.left_palm": 0.0,
+        "observation.tactile_tip_wrench.left_fingers": 0.0,
+        "observation.tactile_depth.right_thumb": 0.0,
+        "observation.tactile_marker.right_thumb": 0.0,
+        "observation.tactile_depth.right_index": 0.0026140715926885605,
+        "observation.tactile_marker.right_index": 0.0011756124440580606,
+        "observation.tactile_depth.right_middle": 0.0024637016467750072,
+        "observation.tactile_marker.right_middle": 0.000673512986395508,
+        "observation.tactile_depth.right_ring": 0.0,
+        "observation.tactile_marker.right_ring": 0.0,
+        "observation.tactile_depth.right_pinky": 0.0,
+        "observation.tactile_marker.right_pinky": 0.0,
+        "observation.tactile_pressure.right_middle_fingertip": 0.21394596993923187,
+        "observation.tactile_pressure.right_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.right_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.right_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.right_index_fingertip": 0.7901650667190552,
+        "observation.tactile_pressure.right_index_fingerpad": 0.0,
+        "observation.tactile_pressure.right_ring_fingertip": 0.0,
+        "observation.tactile_pressure.right_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.right_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.right_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.right_palm": 0.0,
+        "observation.tactile_tip_wrench.right_fingers": 20.553298950195312
+      }
+    }
+  ],
+  "frames": 1403,
+  "action_horizon": 16,
+  "boundary_padding_verified": true,
+  "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here"
+}

meta/acceptance/hammer/visual_review.json

@@ -0,0 +1,15 @@
+{
+  "actual_images_reviewed": [
+    "../frames/overview_1050.jpg",
+    "../frames/overview_1380.jpg",
+    "../frames/wrist_right_650.jpg",
+    "../frames/wrist_left_1050.jpg",
+    "../frames/tactile_right_thumb_650.jpg"
+  ],
+  "observations": [
+    "Actual recorded frames show new RevoTron body, textured MT hands and circular palm-facing wrist cameras.",
+    "Hammer held in right hand; nail visibly lower in final overview. Original saved physical validation separately confirms70mm travel and no hand-nail contact.",
+    "Right thumb optical depth is zero; this is explicitly retained, not artificially populated. Active index/middle depths are nonzero; exact thumb contact geometry remains distinct from body-contact force."
+  ],
+  "method": "Decoded actual recorded images; browser UI playback not tested."
+}

meta/acceptance/insert_peg/command_continuity.json

@@ -0,0 +1,17 @@
+{
+  "dataset": "/home/lixin/RevoBench-refactor/outputs/peg_generic_full_001/lerobot",
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 3033,
+      "duration_s": 50.55,
+      "max_command_step_rad": 0.03632622957229614,
+      "peak_joint_speed_rad_s": 2.1796070325017167,
+      "peak_joint_acceleration_rad_s2": 22.74196408967841,
+      "p99_frame_peak_speed_rad_s": 0.8500707398718242,
+      "command_holds_over_250ms": [],
+      "command_hold_total_s": 0
+    }
+  ],
+  "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness."
+}

meta/acceptance/insert_peg/local_video_decode.json

@@ -0,0 +1,76 @@
+{
+  "passed": true,
+  "videos": [
+    {
+      "file": "observation.images.head.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.overview.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_index.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_middle.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_pinky.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_ring.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_thumb.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_index.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_middle.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_pinky.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_ring.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_thumb.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_left.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_right.mp4",
+      "frames": 3033,
+      "max_timestamp_error_s": 0.0
+    }
+  ],
+  "scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate."
+}

meta/acceptance/insert_peg/physical_report.json

@@ -0,0 +1,79 @@
+{
+  "physical_success": true,
+  "controller": {
+    "stage": "insert_release_withdraw",
+    "stage_complete": true,
+    "task_success": true,
+    "insertion_depth_m": 0.07579230063116776,
+    "position": [
+      -0.07978270947933197,
+      0.4334358870983124,
+      0.91849684715271
+    ],
+    "pickup": {
+      "stage": "grasp_lift_pre_alignment",
+      "stage_complete": true,
+      "position": [
+        -0.07987069338560104,
+        0.32881850004196167,
+        0.9232978820800781
+      ],
+      "error_m": 0.0002978628588191364,
+      "angle_error_deg": 0.037354272740013385,
+      "corrections": [
+        {
+          "position": [
+            -0.07987069338560104,
+            0.32881850004196167,
+            0.9232978820800781
+          ],
+          "error_m": 0.0002978628588191364,
+          "angle_error_deg": 0.037354272740013385
+        }
+      ],
+      "task_success": false,
+      "actuation": "Robot joint targets only; no object attachment or pose writes"
+    },
+    "actuation": "Robot joint targets only; no object attachment or pose writes"
+  },
+  "validation": {
+    "checks": {
+      "controller_completed": true,
+      "final_hold_recorded": true,
+      "no_hand_fixture_collision": true,
+      "no_arm_table_collision": true,
+      "insertion_force_bounded": true,
+      "inserted_at_least_6cm": true,
+      "within_aperture": true,
+      "released": true,
+      "stable_without_hand": true
+    },
+    "metrics": {
+      "duration_s": 50.55,
+      "hand_fixture_peak_n": 0.0,
+      "peg_fixture_peak_n": 1.7610557079315186,
+      "arm_table_peak_n": 0.0,
+      "min_depth_m": 0.07579230063116776,
+      "min_aperture_margin_m": -4.8993899735838564e-08,
+      "final_position_range_m": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "released_hand_force_n": 0.0
+    },
+    "all_pass": true,
+    "note": "Measured physics; fixture contact sampled at 480 Hz. 1 mm geometry tolerance for contact solver. Pickup settling accepted by user; no object pose writes during control."
+  },
+  "control_hz": 60,
+  "physics_hz": 480.0,
+  "physical_trace_timing": "after corresponding action",
+  "observation_timing": "before corresponding action",
+  "task_physics": {
+    "hand_effort_limit_nm": 0.8,
+    "max_depenetration_velocity_m_s": 0.1,
+    "silicone_contact_stiffness": 280.0,
+    "silicone_contact_damping": 2.0
+  },
+  "termination_reason": "source_finished"
+}

meta/acceptance/insert_peg/recording_identity.json

@@ -0,0 +1,233 @@
+{
+  "task": "insert_peg",
+  "frames": 3033,
+  "fps": 60,
+  "pilot": false,
+  "contact_contract": {
+    "targets": [
+      "peg"
+    ],
+    "target_paths": [
+      "/World/envs/env_.*/Objects/peg/base"
+    ],
+    "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts",
+    "frame": "DIP_Link local frame",
+    "origin": "DIP_Link origin",
+    "wrench_units": [
+      "N",
+      "N",
+      "N",
+      "N*m",
+      "N*m",
+      "N*m"
+    ],
+    "marker_units": "m",
+    "depth_units": "m",
+    "pressure_units": "nonnegative post-diffusion response, not Pa or N",
+    "finger_order": [
+      "thumb",
+      "index",
+      "middle",
+      "ring",
+      "pinky"
+    ],
+    "pressure_region_order": {
+      "left": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ],
+      "right": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ]
+    },
+    "physics_dt": 0.0020833333333333333,
+    "tactile_history_hz": 60,
+    "normal_force_sum_checked_every_frame": true
+  },
+  "optical_contact_model": {
+    "id": "physical_geometry_optical_intervals_v1_candidate",
+    "targets": {
+      "peg": {
+        "path": "/World/envs/env_0/Objects/peg/base",
+        "geometry_file": "optical_geometry/peg.json",
+        "sha256": "25db9d04cabd849fd8232b3c40020f01141712ccba5d5a1eb149e4aa9c66af76",
+        "convex_hulls": 1,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      }
+    },
+    "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid"
+  },
+  "robot_configuration": {
+    "max_depenetration_velocity": 0.1,
+    "disable_gravity": true,
+    "effort_limits": {
+      "right_arm": {
+        "Joint1_R": 600.0,
+        "Joint2_R": 600.0,
+        "Joint3_R": 600.0,
+        "Joint4_R": 600.0,
+        "Joint5_R": 200.0,
+        "Joint6_R": 200.0,
+        "Joint7_R": 200.0
+      },
+      "right_fingers": 0.8,
+      "left_arm": {
+        "Joint1_L": 600.0,
+        "Joint2_L": 600.0,
+        "Joint3_L": 600.0,
+        "Joint4_L": 600.0,
+        "Joint5_L": 200.0,
+        "Joint6_L": 200.0,
+        "Joint7_L": 200.0
+      },
+      "left_fingers": 0.8
+    },
+    "velocity_limits": {
+      "right_arm": {
+        "Joint1_R": 6.2832,
+        "Joint2_R": 6.2832,
+        "Joint3_R": 6.2832,
+        "Joint4_R": 6.2832,
+        "Joint5_R": 6.2832,
+        "Joint6_R": 6.2832,
+        "Joint7_R": 6.2832
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 10.0,
+        "right_thumb_CMR_joint": 10.0,
+        "right_thumb_MCP_joint": 10.0,
+        "right_thumb_PIP_joint": 10.0,
+        "right_thumb_DIP_joint": 10.0,
+        "right_index_MPR_joint": 10.0,
+        "right_index_MCP_joint": 10.0,
+        "right_index_PIP_joint": 10.0,
+        "right_index_DIP_joint": 10.0,
+        "right_middle_MPR_joint": 10.0,
+        "right_middle_MCP_joint": 10.0,
+        "right_middle_PIP_joint": 10.0,
+        "right_middle_DIP_joint": 10.0,
+        "right_ring_MPR_joint": 10.0,
+        "right_ring_MCP_joint": 10.0,
+        "right_ring_PIP_joint": 10.0,
+        "right_ring_DIP_joint": 10.0,
+        "right_little_MPR_joint": 10.0,
+        "right_little_MCP_joint": 10.0,
+        "right_little_PIP_joint": 10.0,
+        "right_little_DIP_joint": 10.0
+      },
+      "left_arm": {
+        "Joint1_L": 6.2832,
+        "Joint2_L": 6.2832,
+        "Joint3_L": 6.2832,
+        "Joint4_L": 6.2832,
+        "Joint5_L": 6.2832,
+        "Joint6_L": 6.2832,
+        "Joint7_L": 6.2832
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 10.0,
+        "left_thumb_CMR_joint": 10.0,
+        "left_thumb_MCP_joint": 10.0,
+        "left_thumb_PIP_joint": 10.0,
+        "left_thumb_DIP_joint": 10.0,
+        "left_index_MPR_joint": 10.0,
+        "left_index_MCP_joint": 10.0,
+        "left_index_PIP_joint": 10.0,
+        "left_index_DIP_joint": 10.0,
+        "left_middle_MPR_joint": 10.0,
+        "left_middle_MCP_joint": 10.0,
+        "left_middle_PIP_joint": 10.0,
+        "left_middle_DIP_joint": 10.0,
+        "left_ring_MPR_joint": 10.0,
+        "left_ring_MCP_joint": 10.0,
+        "left_ring_PIP_joint": 10.0,
+        "left_ring_DIP_joint": 10.0,
+        "left_little_MPR_joint": 10.0,
+        "left_little_MCP_joint": 10.0,
+        "left_little_PIP_joint": 10.0,
+        "left_little_DIP_joint": 10.0
+      }
+    }
+  },
+  "seed": 1,
+  "placement": {
+    "seed": 1,
+    "translation_m": [
+      0.00023643249400512323,
+      0.00900927392651868,
+      0.0
+    ],
+    "group": [
+      "peg",
+      "hole"
+    ],
+    "attempts": [
+      {
+        "translation_m": [
+          0.00023643249400512323,
+          0.00900927392651868,
+          0.0
+        ],
+        "accepted": true,
+        "reason": "Peg grasp and full approach spline clear the scene"
+      }
+    ],
+    "static_fixtures": [],
+    "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds"
+  },
+  "shared_configuration": "../shared_configuration.json",
+  "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437",
+  "reference_run": "peg_generic_full_001",
+  "final_release_verified": true,
+  "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.",
+  "preview_frame": 2500,
+  "preview_camera": "overview",
+  "motion_report_included": true,
+  "original_manifest_sha256": "cc3a71761e52b73289f905ac019f3cce02634295cda0ede1d24e2efa8e0d13ef",
+  "files": {
+    "physical_report.json": {
+      "source": "outputs/peg_generic_full_001/collection/raw/physical_report.json",
+      "sha256": "d0c1a44af460dd7c38c0968d3fc5fb0c3343366724957f3450d00fc43d7ea3b4"
+    },
+    "validation_summary.json": {
+      "source": "outputs/peg_generic_full_001/lerobot/meta/validation_summary.json",
+      "sha256": "125d3ba2b40a22cd1f07e4452162b02fe352f2e4af83a5d963326e58d4c4faf4"
+    },
+    "preview.jpg": {
+      "source": "outputs/ten_task_reference_gallery_009/insert_peg.jpg",
+      "sha256": "432e53a6fca971baee4ab46b19abcfca525d335bc622e81888f9b63844748ae4"
+    },
+    "command_continuity.json": {
+      "source": "outputs/peg_generic_full_001/command_continuity.json",
+      "sha256": "6e25b6aec789867951ce03c55c502de05d9c0bac1fdf457b3dae99aade89ed33"
+    },
+    "visual_review.json": {
+      "source": "outputs/peg_generic_full_001/diagnostics/visual_review.json",
+      "sha256": "0697a07d6057615c78d4b0748dc4a6580b3fdf54ac9a407dffbe5901881ace62"
+    },
+    "local_video_decode.json": {
+      "source": "outputs/peg_generic_full_001/diagnostics/local_video_decode.json",
+      "sha256": "e69f474127f8c4e93669c5ad86caa76ddda742e9aefde95ba9894bbce21de0d5"
+    }
+  }
+}

meta/acceptance/insert_peg/validation_summary.json

@@ -0,0 +1,62 @@
+{
+  "loader": "lerobot 0.3.3 / pyav",
+  "pilot": false,
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 3033,
+      "physical_success": true,
+      "peaks": {
+        "observation.tactile_target_id": 0.0,
+        "observation.tactile_depth.left_thumb": 0.0,
+        "observation.tactile_marker.left_thumb": 0.0,
+        "observation.tactile_depth.left_index": 0.0028573274612426758,
+        "observation.tactile_marker.left_index": 0.0013502088841050863,
+        "observation.tactile_depth.left_middle": 0.0025032395496964455,
+        "observation.tactile_marker.left_middle": 0.0011771800927817822,
+        "observation.tactile_depth.left_ring": 0.0,
+        "observation.tactile_marker.left_ring": 0.0,
+        "observation.tactile_depth.left_pinky": 0.0,
+        "observation.tactile_marker.left_pinky": 0.0,
+        "observation.tactile_pressure.left_middle_fingertip": 0.0,
+        "observation.tactile_pressure.left_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.left_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.left_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.left_index_fingertip": 0.9598420262336731,
+        "observation.tactile_pressure.left_index_fingerpad": 0.0,
+        "observation.tactile_pressure.left_ring_fingertip": 0.0,
+        "observation.tactile_pressure.left_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.left_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.left_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.left_palm": 0.0,
+        "observation.tactile_tip_wrench.left_fingers": 3.564378499984741,
+        "observation.tactile_depth.right_thumb": 0.0,
+        "observation.tactile_marker.right_thumb": 0.0,
+        "observation.tactile_depth.right_index": 0.0,
+        "observation.tactile_marker.right_index": 0.0,
+        "observation.tactile_depth.right_middle": 0.0,
+        "observation.tactile_marker.right_middle": 0.0,
+        "observation.tactile_depth.right_ring": 0.0,
+        "observation.tactile_marker.right_ring": 0.0,
+        "observation.tactile_depth.right_pinky": 0.0,
+        "observation.tactile_marker.right_pinky": 0.0,
+        "observation.tactile_pressure.right_middle_fingertip": 0.0,
+        "observation.tactile_pressure.right_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.right_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.right_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.right_index_fingertip": 0.0,
+        "observation.tactile_pressure.right_index_fingerpad": 0.0,
+        "observation.tactile_pressure.right_ring_fingertip": 0.0,
+        "observation.tactile_pressure.right_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.right_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.right_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.right_palm": 0.0,
+        "observation.tactile_tip_wrench.right_fingers": 0.0
+      }
+    }
+  ],
+  "frames": 3033,
+  "action_horizon": 16,
+  "boundary_padding_verified": true,
+  "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here"
+}

meta/acceptance/insert_peg/visual_review.json

@@ -0,0 +1,10 @@
+{
+  "review_method": "Actual decoded frames opened with view_image; no browser playback claim",
+  "reviewed": [
+    "frames/observation.images.overview_2100.jpg",
+    "frames/observation.images.wrist_left_1000.jpg",
+    "frames/observation.images.wrist_left_2100.jpg",
+    "frames/observation.images.overview_2950.jpg"
+  ],
+  "observed": "New RevoTron body and textured MT hands; palm-facing wrist fisheye. Peg gripped at1000 and carried toward socket by2100; final overview shows hand withdrawn. Socket partly occludes inserted peg; insertion and release are established by saved physical trace, not by overview alone."
+}

meta/acceptance/insert_pipette/command_continuity.json

@@ -0,0 +1,23 @@
+{
+  "dataset": "/home/lixin/RevoBench-refactor/outputs/pipette_generic_full_001/lerobot",
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 2551,
+      "duration_s": 42.516666666666666,
+      "max_command_step_rad": 0.018638353794813156,
+      "peak_joint_speed_rad_s": 1.1182543038708017,
+      "peak_joint_acceleration_rad_s2": 5.8558701385638985,
+      "p99_frame_peak_speed_rad_s": 0.9795693021858549,
+      "command_holds_over_250ms": [
+        {
+          "start_s": 39.349998474121094,
+          "end_s": 42.5,
+          "duration_s": 3.1500015258789062
+        }
+      ],
+      "command_hold_total_s": 3.1500015258789062
+    }
+  ],
+  "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness."
+}

meta/acceptance/insert_pipette/local_video_decode.json

@@ -0,0 +1,76 @@
+{
+  "passed": true,
+  "videos": [
+    {
+      "file": "observation.images.head.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.overview.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_index.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_middle.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_pinky.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_ring.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_thumb.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_index.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_middle.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_pinky.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_ring.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_thumb.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_left.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_right.mp4",
+      "frames": 2551,
+      "max_timestamp_error_s": 0.0
+    }
+  ],
+  "scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate."
+}

meta/acceptance/insert_pipette/physical_report.json

@@ -0,0 +1,49 @@
+{
+  "physical_success": true,
+  "controller": {
+    "stage": "physical_insert",
+    "stage_complete": true,
+    "tip_position": [
+      -0.07983522117137909,
+      0.5589365363121033,
+      0.9081864953041077
+    ],
+    "position_error_m": 0.00015267063995234284,
+    "angle_error_deg": 0.03739501284909138,
+    "insertion_completed": true
+  },
+  "validation": {
+    "all_pass": true,
+    "checks": {
+      "stage_complete": true,
+      "recorded_final_hold": true,
+      "no_fixture_collision": true,
+      "no_sampled_arm_table_collision": true,
+      "tip_above_opening": true,
+      "tip_points_down": true,
+      "insertion_depth_valid": true,
+      "three_fingers_contact": true
+    },
+    "metrics": {
+      "max_horizontal_tip_error_m": 0.00011220562205831668,
+      "max_downward_axis_error_deg": 0.039743898946979855,
+      "minimum_tip_height_above_rim_m": -0.05012339906692509,
+      "mean_finger_force_n": {
+        "thumb": 1.5778751148117913,
+        "index": 0.6738398015499115,
+        "middle": 1.462263763613171
+      }
+    }
+  },
+  "control_hz": 60,
+  "physics_hz": 480.0,
+  "physical_trace_timing": "after corresponding action",
+  "observation_timing": "before corresponding action",
+  "task_physics": {
+    "hand_effort_limit_nm": 0.8,
+    "max_depenetration_velocity_m_s": 0.1,
+    "silicone_contact_stiffness": 280.0,
+    "silicone_contact_damping": 2.0
+  },
+  "termination_reason": "source_finished"
+}

meta/acceptance/insert_pipette/recording_identity.json

@@ -0,0 +1,273 @@
+{
+  "task": "insert_pipette",
+  "frames": 2551,
+  "fps": 60,
+  "pilot": false,
+  "contact_contract": {
+    "targets": [
+      "pipette"
+    ],
+    "target_paths": [
+      "/World/envs/env_.*/Objects/pipette"
+    ],
+    "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts",
+    "frame": "DIP_Link local frame",
+    "origin": "DIP_Link origin",
+    "wrench_units": [
+      "N",
+      "N",
+      "N",
+      "N*m",
+      "N*m",
+      "N*m"
+    ],
+    "marker_units": "m",
+    "depth_units": "m",
+    "pressure_units": "nonnegative post-diffusion response, not Pa or N",
+    "finger_order": [
+      "thumb",
+      "index",
+      "middle",
+      "ring",
+      "pinky"
+    ],
+    "pressure_region_order": {
+      "left": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ],
+      "right": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ]
+    },
+    "physics_dt": 0.0020833333333333333,
+    "tactile_history_hz": 60,
+    "normal_force_sum_checked_every_frame": true
+  },
+  "optical_contact_model": {
+    "id": "physical_geometry_optical_intervals_v1_candidate",
+    "targets": {
+      "pipette": {
+        "path": "/World/envs/env_0/Objects/pipette",
+        "geometry_file": "optical_geometry/pipette.json",
+        "sha256": "b616db81abdc8e828b6a9b0be8d54aa82459cef199603abc3d9c8944f23d9233",
+        "convex_hulls": 29,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      }
+    },
+    "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid"
+  },
+  "robot_configuration": {
+    "max_depenetration_velocity": 0.1,
+    "disable_gravity": true,
+    "effort_limits": {
+      "right_arm": {
+        "Joint1_R": 600.0,
+        "Joint2_R": 600.0,
+        "Joint3_R": 600.0,
+        "Joint4_R": 600.0,
+        "Joint5_R": 200.0,
+        "Joint6_R": 200.0,
+        "Joint7_R": 200.0
+      },
+      "right_fingers": 0.8,
+      "left_arm": {
+        "Joint1_L": 600.0,
+        "Joint2_L": 600.0,
+        "Joint3_L": 600.0,
+        "Joint4_L": 600.0,
+        "Joint5_L": 200.0,
+        "Joint6_L": 200.0,
+        "Joint7_L": 200.0
+      },
+      "left_fingers": 0.8
+    },
+    "velocity_limits": {
+      "right_arm": {
+        "Joint1_R": 6.2832,
+        "Joint2_R": 6.2832,
+        "Joint3_R": 6.2832,
+        "Joint4_R": 6.2832,
+        "Joint5_R": 6.2832,
+        "Joint6_R": 6.2832,
+        "Joint7_R": 6.2832
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 10.0,
+        "right_thumb_CMR_joint": 10.0,
+        "right_thumb_MCP_joint": 10.0,
+        "right_thumb_PIP_joint": 10.0,
+        "right_thumb_DIP_joint": 10.0,
+        "right_index_MPR_joint": 10.0,
+        "right_index_MCP_joint": 10.0,
+        "right_index_PIP_joint": 10.0,
+        "right_index_DIP_joint": 10.0,
+        "right_middle_MPR_joint": 10.0,
+        "right_middle_MCP_joint": 10.0,
+        "right_middle_PIP_joint": 10.0,
+        "right_middle_DIP_joint": 10.0,
+        "right_ring_MPR_joint": 10.0,
+        "right_ring_MCP_joint": 10.0,
+        "right_ring_PIP_joint": 10.0,
+        "right_ring_DIP_joint": 10.0,
+        "right_little_MPR_joint": 10.0,
+        "right_little_MCP_joint": 10.0,
+        "right_little_PIP_joint": 10.0,
+        "right_little_DIP_joint": 10.0
+      },
+      "left_arm": {
+        "Joint1_L": 6.2832,
+        "Joint2_L": 6.2832,
+        "Joint3_L": 6.2832,
+        "Joint4_L": 6.2832,
+        "Joint5_L": 6.2832,
+        "Joint6_L": 6.2832,
+        "Joint7_L": 6.2832
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 10.0,
+        "left_thumb_CMR_joint": 10.0,
+        "left_thumb_MCP_joint": 10.0,
+        "left_thumb_PIP_joint": 10.0,
+        "left_thumb_DIP_joint": 10.0,
+        "left_index_MPR_joint": 10.0,
+        "left_index_MCP_joint": 10.0,
+        "left_index_PIP_joint": 10.0,
+        "left_index_DIP_joint": 10.0,
+        "left_middle_MPR_joint": 10.0,
+        "left_middle_MCP_joint": 10.0,
+        "left_middle_PIP_joint": 10.0,
+        "left_middle_DIP_joint": 10.0,
+        "left_ring_MPR_joint": 10.0,
+        "left_ring_MCP_joint": 10.0,
+        "left_ring_PIP_joint": 10.0,
+        "left_ring_DIP_joint": 10.0,
+        "left_little_MPR_joint": 10.0,
+        "left_little_MCP_joint": 10.0,
+        "left_little_PIP_joint": 10.0,
+        "left_little_DIP_joint": 10.0
+      }
+    }
+  },
+  "seed": 1,
+  "placement": {
+    "seed": 1,
+    "translation_m": [
+      0.00023643249400512323,
+      0.009009273926518707,
+      0.0
+    ],
+    "group": [
+      "pipette",
+      "glassware"
+    ],
+    "attempts": [
+      {
+        "translation_m": [
+          0.00023643249400512323,
+          0.009009273926518707,
+          0.0
+        ],
+        "accepted": true,
+        "reason": "Measured IK approach clears table and task mesh bounds"
+      }
+    ],
+    "static_fixtures": [
+      {
+        "prim_path": "/World/envs/env_0/PipetteRest",
+        "position": [
+          -0.2597635675059949,
+          0.2465092739265187,
+          0.8375
+        ],
+        "size": [
+          0.06,
+          0.075,
+          0.03
+        ]
+      },
+      {
+        "prim_path": "/World/envs/env_0/PipetteRestRail0",
+        "position": [
+          -0.26606356750599486,
+          0.2265092739265187,
+          0.8585
+        ],
+        "size": [
+          0.004,
+          0.025,
+          0.012
+        ]
+      },
+      {
+        "prim_path": "/World/envs/env_0/PipetteRestRail2",
+        "position": [
+          -0.2534635675059949,
+          0.2265092739265187,
+          0.8585
+        ],
+        "size": [
+          0.004,
+          0.025,
+          0.012
+        ]
+      }
+    ],
+    "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds"
+  },
+  "shared_configuration": "../shared_configuration.json",
+  "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437",
+  "reference_run": "pipette_generic_full_001",
+  "final_release_verified": true,
+  "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.",
+  "preview_frame": 2100,
+  "preview_camera": "overview",
+  "motion_report_included": true,
+  "original_manifest_sha256": "6a9ba93f93aaa0842471b8a714b126789e24413253cc3673a7dfb2a192aab5b1",
+  "files": {
+    "physical_report.json": {
+      "source": "outputs/pipette_generic_full_001/collection/raw/physical_report.json",
+      "sha256": "e6aa2d584491f0290dd70ddc2a4dbf82837868cdeadc181e74a29c3e24bc399d"
+    },
+    "validation_summary.json": {
+      "source": "outputs/pipette_generic_full_001/lerobot/meta/validation_summary.json",
+      "sha256": "faabf2284d4e3d151361d976a42ee761e66acf923f05758c636502ced0d4391b"
+    },
+    "preview.jpg": {
+      "source": "outputs/ten_task_reference_gallery_009/insert_pipette.jpg",
+      "sha256": "ad14ee9b6583b6504a928699a10a6bef6a57b4a3c19f779e148eef2e44ae303b"
+    },
+    "command_continuity.json": {
+      "source": "outputs/pipette_generic_full_001/command_continuity.json",
+      "sha256": "1014d75c1fdd8f211b43b72c09298aafeb8bbb75e48cda447f1016d3817a7e98"
+    },
+    "visual_review.json": {
+      "source": "outputs/pipette_generic_full_001/diagnostics/visual_review.json",
+      "sha256": "6ef040dce8c083531bce3ce5d2f6f77df50c34fac82b9a8f71b256b2797ed775"
+    },
+    "local_video_decode.json": {
+      "source": "outputs/pipette_generic_full_001/diagnostics/local_video_decode.json",
+      "sha256": "e582ea5233e2bbdaa61e12e98438b5cca3da433565908b8473e03fe3d66fdda3"
+    }
+  }
+}

meta/acceptance/insert_pipette/validation_summary.json

@@ -0,0 +1,62 @@
+{
+  "loader": "lerobot 0.3.3 / pyav",
+  "pilot": false,
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 2551,
+      "physical_success": true,
+      "peaks": {
+        "observation.tactile_target_id": 0.0,
+        "observation.tactile_depth.left_thumb": 0.007878092117607594,
+        "observation.tactile_marker.left_thumb": 0.0006780096446163952,
+        "observation.tactile_depth.left_index": 0.0017396914772689342,
+        "observation.tactile_marker.left_index": 0.0006935261189937592,
+        "observation.tactile_depth.left_middle": 0.0034981518983840942,
+        "observation.tactile_marker.left_middle": 0.0006417174590751529,
+        "observation.tactile_depth.left_ring": 0.0,
+        "observation.tactile_marker.left_ring": 0.0,
+        "observation.tactile_depth.left_pinky": 0.0,
+        "observation.tactile_marker.left_pinky": 0.0,
+        "observation.tactile_pressure.left_middle_fingertip": 0.0,
+        "observation.tactile_pressure.left_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.left_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.left_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.left_index_fingertip": 0.0,
+        "observation.tactile_pressure.left_index_fingerpad": 0.0,
+        "observation.tactile_pressure.left_ring_fingertip": 0.0,
+        "observation.tactile_pressure.left_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.left_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.left_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.left_palm": 0.0,
+        "observation.tactile_tip_wrench.left_fingers": 3.711230754852295,
+        "observation.tactile_depth.right_thumb": 0.0,
+        "observation.tactile_marker.right_thumb": 0.0,
+        "observation.tactile_depth.right_index": 0.0,
+        "observation.tactile_marker.right_index": 0.0,
+        "observation.tactile_depth.right_middle": 0.0,
+        "observation.tactile_marker.right_middle": 0.0,
+        "observation.tactile_depth.right_ring": 0.0,
+        "observation.tactile_marker.right_ring": 0.0,
+        "observation.tactile_depth.right_pinky": 0.0,
+        "observation.tactile_marker.right_pinky": 0.0,
+        "observation.tactile_pressure.right_middle_fingertip": 0.0,
+        "observation.tactile_pressure.right_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.right_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.right_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.right_index_fingertip": 0.0,
+        "observation.tactile_pressure.right_index_fingerpad": 0.0,
+        "observation.tactile_pressure.right_ring_fingertip": 0.0,
+        "observation.tactile_pressure.right_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.right_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.right_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.right_palm": 0.0,
+        "observation.tactile_tip_wrench.right_fingers": 0.0
+      }
+    }
+  ],
+  "frames": 2551,
+  "action_horizon": 16,
+  "boundary_padding_verified": true,
+  "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here"
+}

meta/acceptance/insert_pipette/visual_review.json

@@ -0,0 +1,11 @@
+{
+  "method": "Actual decoded images opened with view_image; no browser playback claim",
+  "frames": [
+    "frames/observation.images.wrist_left_900.jpg",
+    "frames/observation.images.wrist_left_2000.jpg",
+    "frames/observation.images.overview_2500.jpg",
+    "frames/observation.images.tactile_left_thumb_2000.jpg"
+  ],
+  "observations": "Current RevoTron, textured MT hands, palm-facing180degree fisheye. Pipette held near its stand, moved to flask and held inserted atfinalframe. Optical thumb RGB retains visible marker texture. Original task requires held insertion, not release.",
+  "scope": "Images support visual inspection; original physical trace and official reader decide numerical acceptance."
+}

meta/acceptance/kitchen/command_continuity.json

@@ -0,0 +1,17 @@
+{
+  "dataset": "/home/lixin/RevoBench-refactor/outputs/kitchen_original_generic_full_001/lerobot",
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 5424,
+      "duration_s": 90.4,
+      "max_command_step_rad": 0.041196200996637344,
+      "peak_joint_speed_rad_s": 2.4718097766222247,
+      "peak_joint_acceleration_rad_s2": 67.53093743895498,
+      "p99_frame_peak_speed_rad_s": 0.9984287246978041,
+      "command_holds_over_250ms": [],
+      "command_hold_total_s": 0
+    }
+  ],
+  "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness."
+}

meta/acceptance/kitchen/local_video_decode.json

@@ -0,0 +1,76 @@
+{
+  "passed": true,
+  "videos": [
+    {
+      "file": "observation.images.head.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.overview.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_index.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_middle.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_pinky.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_ring.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_thumb.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_index.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_middle.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_pinky.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_ring.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_thumb.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_left.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_right.mp4",
+      "frames": 5424,
+      "max_timestamp_error_s": 0.0
+    }
+  ],
+  "total_decoded_frames": 75936
+}

meta/acceptance/kitchen/physical_report.json

@@ -0,0 +1,195 @@
+{
+  "success": true,
+  "requested_objects": 3,
+  "target_bowls": 1,
+  "results": [
+    {
+      "object": "potato_chunk_0",
+      "lift_m": 0.16769671440124512,
+      "lift_forces_N": [
+        3.475600242614746,
+        3.6159441471099854,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "final_center_m": [
+        0.17700736629016833,
+        0.476218962524279,
+        0.844302591357228
+      ],
+      "final_speed_m_s": 0.0008143031736835837,
+      "inside_bowl": true
+    },
+    {
+      "object": "meat_chunk_1",
+      "lift_m": 0.1489378809928894,
+      "lift_forces_N": [
+        1.7853020429611206,
+        1.5895425081253052,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "final_center_m": [
+        0.2305210812382811,
+        0.46857080243690263,
+        0.8564586194395954
+      ],
+      "final_speed_m_s": 0.0008876025676727295,
+      "inside_bowl": true
+    },
+    {
+      "object": "meat_chunk_0",
+      "lift_m": 0.14830511808395386,
+      "lift_forces_N": [
+        4.448562145233154,
+        4.11806058883667,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "final_center_m": [
+        0.18398549798559272,
+        0.45895610984718616,
+        0.8656389667126998
+      ],
+      "final_speed_m_s": 0.007673555985093117,
+      "inside_bowl": true
+    }
+  ],
+  "resumed": false,
+  "joint_names": [
+    "Joint1_L",
+    "Joint1_R",
+    "Joint2_L",
+    "Joint2_R",
+    "Joint3_L",
+    "Joint3_R",
+    "Joint4_L",
+    "Joint4_R",
+    "Joint5_L",
+    "Joint5_R",
+    "Joint6_L",
+    "Joint6_R",
+    "Joint7_L",
+    "Joint7_R",
+    "left_index_MPR_joint",
+    "left_little_MPR_joint",
+    "left_middle_MPR_joint",
+    "left_ring_MPR_joint",
+    "left_thumb_CMP_joint",
+    "right_index_MPR_joint",
+    "right_little_MPR_joint",
+    "right_middle_MPR_joint",
+    "right_ring_MPR_joint",
+    "right_thumb_CMP_joint",
+    "left_index_MCP_joint",
+    "left_little_MCP_joint",
+    "left_middle_MCP_joint",
+    "left_ring_MCP_joint",
+    "left_thumb_CMR_joint",
+    "right_index_MCP_joint",
+    "right_little_MCP_joint",
+    "right_middle_MCP_joint",
+    "right_ring_MCP_joint",
+    "right_thumb_CMR_joint",
+    "left_index_PIP_joint",
+    "left_little_PIP_joint",
+    "left_middle_PIP_joint",
+    "left_ring_PIP_joint",
+    "left_thumb_MCP_joint",
+    "right_index_PIP_joint",
+    "right_little_PIP_joint",
+    "right_middle_PIP_joint",
+    "right_ring_PIP_joint",
+    "right_thumb_MCP_joint",
+    "left_index_DIP_joint",
+    "left_little_DIP_joint",
+    "left_middle_DIP_joint",
+    "left_ring_DIP_joint",
+    "left_thumb_PIP_joint",
+    "right_index_DIP_joint",
+    "right_little_DIP_joint",
+    "right_middle_DIP_joint",
+    "right_ring_DIP_joint",
+    "right_thumb_PIP_joint",
+    "left_thumb_DIP_joint",
+    "right_thumb_DIP_joint"
+  ],
+  "object_names": [
+    "cooking_pot",
+    "meat_chunk_0",
+    "meat_chunk_1",
+    "potato_chunk_0",
+    "empty_bowl"
+  ],
+  "force_object_names": [
+    "meat_chunk_0",
+    "meat_chunk_1",
+    "potato_chunk_0"
+  ],
+  "force_finger_names": [
+    "thumb",
+    "index",
+    "middle",
+    "ring",
+    "little"
+  ],
+  "force_segment_names": [
+    "MCP",
+    "PIP",
+    "DIP"
+  ],
+  "control_hz": 60,
+  "physical_trace_hz": 60,
+  "video_fps": 60,
+  "simulation_steps": 5424,
+  "physical_success": true,
+  "validation": {
+    "success": true,
+    "validated": true,
+    "objects": [
+      {
+        "object": "potato_chunk_0",
+        "final_center_m": [
+          0.18719160833712736,
+          0.49103133391537146,
+          0.8423805027754927
+        ],
+        "minimum_lift_m": 0.1649177074432373,
+        "minimum_pinch_force_N": 3.474325180053711,
+        "maximum_other_finger_force_N": 0.0
+      },
+      {
+        "object": "meat_chunk_1",
+        "final_center_m": [
+          0.22988198210642746,
+          0.4676072525807755,
+          0.8564305968148761
+        ],
+        "minimum_lift_m": 0.1462341547012329,
+        "minimum_pinch_force_N": 1.5890241861343384,
+        "maximum_other_finger_force_N": 0.0
+      },
+      {
+        "object": "meat_chunk_0",
+        "final_center_m": [
+          0.18398548908705184,
+          0.458956367046895,
+          0.8656390910764156
+        ],
+        "minimum_lift_m": 0.13565754890441895,
+        "minimum_pinch_force_N": 4.115654468536377,
+        "maximum_other_finger_force_N": 0.0
+      }
+    ],
+    "recorded_frames": 5424,
+    "record_hz": 60,
+    "settled_samples": 60,
+    "validation_source": "measured poses, geometry and per-finger contacts"
+  },
+  "physical_trace_timing": "before corresponding action",
+  "physics_hz": 480,
+  "termination_reason": "source_finished"
+}

meta/acceptance/kitchen/recording_identity.json

@@ -0,0 +1,300 @@
+{
+  "task": "kitchen",
+  "frames": 5424,
+  "fps": 60,
+  "pilot": false,
+  "contact_contract": {
+    "targets": [
+      "meat_chunk_0",
+      "meat_chunk_1",
+      "potato_chunk_0"
+    ],
+    "target_paths": [
+      "/World/envs/env_.*/Objects/meat_chunk_0",
+      "/World/envs/env_.*/Objects/meat_chunk_1",
+      "/World/envs/env_.*/Objects/potato_chunk_0"
+    ],
+    "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts",
+    "frame": "DIP_Link local frame",
+    "origin": "DIP_Link origin",
+    "wrench_units": [
+      "N",
+      "N",
+      "N",
+      "N*m",
+      "N*m",
+      "N*m"
+    ],
+    "marker_units": "m",
+    "depth_units": "m",
+    "pressure_units": "nonnegative post-diffusion response, not Pa or N",
+    "finger_order": [
+      "thumb",
+      "index",
+      "middle",
+      "ring",
+      "pinky"
+    ],
+    "pressure_region_order": {
+      "left": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ],
+      "right": [
+        "middle_fingertip",
+        "middle_fingerpad",
+        "thumb_fingertip",
+        "thumb_fingerpad",
+        "index_fingertip",
+        "index_fingerpad",
+        "ring_fingertip",
+        "ring_fingerpad",
+        "pinky_fingertip",
+        "pinky_fingerpad",
+        "palm"
+      ]
+    },
+    "physics_dt": 0.0020833333333333333,
+    "tactile_history_hz": 60,
+    "normal_force_sum_checked_every_frame": true
+  },
+  "optical_contact_model": {
+    "id": "physical_geometry_optical_intervals_v1_candidate",
+    "targets": {
+      "meat_chunk_0": {
+        "path": "/World/envs/env_0/Objects/meat_chunk_0",
+        "geometry_file": "optical_geometry/meat_chunk_0.json",
+        "sha256": "87bf17fb66f8356189b0697bf9367d59b9677fe10f314ed41bd3cd710368a13a",
+        "convex_hulls": 16,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      },
+      "meat_chunk_1": {
+        "path": "/World/envs/env_0/Objects/meat_chunk_1",
+        "geometry_file": "optical_geometry/meat_chunk_1.json",
+        "sha256": "122161812d382502c4de53c3cae117c48741aa64e53334c2bf681f91e1cfc242",
+        "convex_hulls": 16,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      },
+      "potato_chunk_0": {
+        "path": "/World/envs/env_0/Objects/potato_chunk_0",
+        "geometry_file": "optical_geometry/potato_chunk_0.json",
+        "sha256": "68602b9a39404bec66393af120d4e4f27ca32e269c6a71e9b91419bd17b9d621",
+        "convex_hulls": 1,
+        "cylinders": 0,
+        "sdf_source_surface": false
+      }
+    },
+    "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid"
+  },
+  "robot_configuration": {
+    "max_depenetration_velocity": 1000.0,
+    "disable_gravity": true,
+    "effort_limits": {
+      "right_arm": {
+        "Joint1_R": 600.0,
+        "Joint2_R": 600.0,
+        "Joint3_R": 600.0,
+        "Joint4_R": 600.0,
+        "Joint5_R": 200.0,
+        "Joint6_R": 200.0,
+        "Joint7_R": 200.0
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 5.0,
+        "right_thumb_CMR_joint": 5.0,
+        "right_thumb_MCP_joint": 5.0,
+        "right_thumb_PIP_joint": 5.0,
+        "right_thumb_DIP_joint": 5.0,
+        "right_index_MPR_joint": 5.0,
+        "right_index_MCP_joint": 5.0,
+        "right_index_PIP_joint": 5.0,
+        "right_index_DIP_joint": 5.0,
+        "right_middle_MPR_joint": 5.0,
+        "right_middle_MCP_joint": 5.0,
+        "right_middle_PIP_joint": 5.0,
+        "right_middle_DIP_joint": 5.0,
+        "right_ring_MPR_joint": 5.0,
+        "right_ring_MCP_joint": 5.0,
+        "right_ring_PIP_joint": 5.0,
+        "right_ring_DIP_joint": 5.0,
+        "right_little_MPR_joint": 5.0,
+        "right_little_MCP_joint": 5.0,
+        "right_little_PIP_joint": 5.0,
+        "right_little_DIP_joint": 5.0
+      },
+      "left_arm": {
+        "Joint1_L": 600.0,
+        "Joint2_L": 600.0,
+        "Joint3_L": 600.0,
+        "Joint4_L": 600.0,
+        "Joint5_L": 200.0,
+        "Joint6_L": 200.0,
+        "Joint7_L": 200.0
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 5.0,
+        "left_thumb_CMR_joint": 5.0,
+        "left_thumb_MCP_joint": 5.0,
+        "left_thumb_PIP_joint": 5.0,
+        "left_thumb_DIP_joint": 5.0,
+        "left_index_MPR_joint": 5.0,
+        "left_index_MCP_joint": 5.0,
+        "left_index_PIP_joint": 5.0,
+        "left_index_DIP_joint": 5.0,
+        "left_middle_MPR_joint": 5.0,
+        "left_middle_MCP_joint": 5.0,
+        "left_middle_PIP_joint": 5.0,
+        "left_middle_DIP_joint": 5.0,
+        "left_ring_MPR_joint": 5.0,
+        "left_ring_MCP_joint": 5.0,
+        "left_ring_PIP_joint": 5.0,
+        "left_ring_DIP_joint": 5.0,
+        "left_little_MPR_joint": 5.0,
+        "left_little_MCP_joint": 5.0,
+        "left_little_PIP_joint": 5.0,
+        "left_little_DIP_joint": 5.0
+      }
+    },
+    "velocity_limits": {
+      "right_arm": {
+        "Joint1_R": 6.2832,
+        "Joint2_R": 6.2832,
+        "Joint3_R": 6.2832,
+        "Joint4_R": 6.2832,
+        "Joint5_R": 6.2832,
+        "Joint6_R": 6.2832,
+        "Joint7_R": 6.2832
+      },
+      "right_fingers": {
+        "right_thumb_CMP_joint": 10.0,
+        "right_thumb_CMR_joint": 10.0,
+        "right_thumb_MCP_joint": 10.0,
+        "right_thumb_PIP_joint": 10.0,
+        "right_thumb_DIP_joint": 10.0,
+        "right_index_MPR_joint": 10.0,
+        "right_index_MCP_joint": 10.0,
+        "right_index_PIP_joint": 10.0,
+        "right_index_DIP_joint": 10.0,
+        "right_middle_MPR_joint": 10.0,
+        "right_middle_MCP_joint": 10.0,
+        "right_middle_PIP_joint": 10.0,
+        "right_middle_DIP_joint": 10.0,
+        "right_ring_MPR_joint": 10.0,
+        "right_ring_MCP_joint": 10.0,
+        "right_ring_PIP_joint": 10.0,
+        "right_ring_DIP_joint": 10.0,
+        "right_little_MPR_joint": 10.0,
+        "right_little_MCP_joint": 10.0,
+        "right_little_PIP_joint": 10.0,
+        "right_little_DIP_joint": 10.0
+      },
+      "left_arm": {
+        "Joint1_L": 6.2832,
+        "Joint2_L": 6.2832,
+        "Joint3_L": 6.2832,
+        "Joint4_L": 6.2832,
+        "Joint5_L": 6.2832,
+        "Joint6_L": 6.2832,
+        "Joint7_L": 6.2832
+      },
+      "left_fingers": {
+        "left_thumb_CMP_joint": 10.0,
+        "left_thumb_CMR_joint": 10.0,
+        "left_thumb_MCP_joint": 10.0,
+        "left_thumb_PIP_joint": 10.0,
+        "left_thumb_DIP_joint": 10.0,
+        "left_index_MPR_joint": 10.0,
+        "left_index_MCP_joint": 10.0,
+        "left_index_PIP_joint": 10.0,
+        "left_index_DIP_joint": 10.0,
+        "left_middle_MPR_joint": 10.0,
+        "left_middle_MCP_joint": 10.0,
+        "left_middle_PIP_joint": 10.0,
+        "left_middle_DIP_joint": 10.0,
+        "left_ring_MPR_joint": 10.0,
+        "left_ring_MCP_joint": 10.0,
+        "left_ring_PIP_joint": 10.0,
+        "left_ring_DIP_joint": 10.0,
+        "left_little_MPR_joint": 10.0,
+        "left_little_MCP_joint": 10.0,
+        "left_little_PIP_joint": 10.0,
+        "left_little_DIP_joint": 10.0
+      }
+    }
+  },
+  "seed": 1,
+  "placement": {
+    "seed": 1,
+    "translation_m": [
+      0.0002364324940051371,
+      0.00900927392651868,
+      0.0
+    ],
+    "group": [
+      "cooking_pot",
+      "meat_chunk_0",
+      "meat_chunk_1",
+      "potato_chunk_0",
+      "empty_bowl"
+    ],
+    "attempts": [
+      {
+        "translation_m": [
+          0.0002364324940051371,
+          0.00900927392651868,
+          0.0
+        ],
+        "accepted": true,
+        "reason": "All ingredient grasp IK and high approach paths are feasible"
+      }
+    ],
+    "static_fixtures": [],
+    "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds"
+  },
+  "shared_configuration": "../shared_configuration.json",
+  "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437",
+  "reference_run": "kitchen_original_generic_full_001",
+  "final_release_verified": true,
+  "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.",
+  "preview_frame": 3500,
+  "preview_camera": "overview",
+  "motion_report_included": true,
+  "original_manifest_sha256": "55e1cd0891f29708123833ee495c3b51c9d42092e7036d9398479fe6962b1d8d",
+  "files": {
+    "physical_report.json": {
+      "source": "outputs/kitchen_original_generic_full_001/collection/raw/physical_report.json",
+      "sha256": "3934c4c3851df61aaa673a996dd6ac3f569546f2532a613849587db8b1d4967c"
+    },
+    "validation_summary.json": {
+      "source": "outputs/kitchen_original_generic_full_001/lerobot/meta/validation_summary.json",
+      "sha256": "ded7713c61d6d0e80a6318d0760e5865b777f102fbca121b309bbf2d6a1c0c2a"
+    },
+    "preview.jpg": {
+      "source": "outputs/ten_task_reference_gallery_009/kitchen.jpg",
+      "sha256": "abfa9bd46f3d7b864610bc6508fe378c29fa423a5c0372281acc2d742c61b81c"
+    },
+    "command_continuity.json": {
+      "source": "outputs/kitchen_original_generic_full_001/command_continuity.json",
+      "sha256": "188351b2a3e836f01f6a47c70603bae8cab135e9333cfab96930bb9213ea7bb6"
+    },
+    "visual_review.json": {
+      "source": "outputs/kitchen_original_generic_full_001/diagnostics/visual_review.json",
+      "sha256": "714477f5907a2ec3864280995353f3f1ecdda318be076b08dd9c5f6091cf1c63"
+    },
+    "local_video_decode.json": {
+      "source": "outputs/kitchen_original_generic_full_001/diagnostics/local_video_decode.json",
+      "sha256": "9322dccd2b3c52e739ad4ba9a89ad1edee83191a0ac5a3ffde980f816ba94142"
+    }
+  }
+}

meta/acceptance/kitchen/validation_summary.json

@@ -0,0 +1,62 @@
+{
+  "loader": "lerobot 0.3.3 / pyav",
+  "pilot": false,
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 5424,
+      "physical_success": true,
+      "peaks": {
+        "observation.tactile_target_id": 2.0,
+        "observation.tactile_depth.left_thumb": 0.0,
+        "observation.tactile_marker.left_thumb": 0.0,
+        "observation.tactile_depth.left_index": 0.0,
+        "observation.tactile_marker.left_index": 0.0,
+        "observation.tactile_depth.left_middle": 0.0,
+        "observation.tactile_marker.left_middle": 0.0,
+        "observation.tactile_depth.left_ring": 0.0,
+        "observation.tactile_marker.left_ring": 0.0,
+        "observation.tactile_depth.left_pinky": 0.0,
+        "observation.tactile_marker.left_pinky": 0.0,
+        "observation.tactile_pressure.left_middle_fingertip": 0.0,
+        "observation.tactile_pressure.left_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.left_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.left_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.left_index_fingertip": 0.0,
+        "observation.tactile_pressure.left_index_fingerpad": 0.0,
+        "observation.tactile_pressure.left_ring_fingertip": 0.0,
+        "observation.tactile_pressure.left_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.left_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.left_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.left_palm": 0.0,
+        "observation.tactile_tip_wrench.left_fingers": 0.0,
+        "observation.tactile_depth.right_thumb": 0.0,
+        "observation.tactile_marker.right_thumb": 0.0,
+        "observation.tactile_depth.right_index": 0.003506897483021021,
+        "observation.tactile_marker.right_index": 0.003203436266630888,
+        "observation.tactile_depth.right_middle": 0.0,
+        "observation.tactile_marker.right_middle": 0.0,
+        "observation.tactile_depth.right_ring": 0.0,
+        "observation.tactile_marker.right_ring": 0.0,
+        "observation.tactile_depth.right_pinky": 0.0,
+        "observation.tactile_marker.right_pinky": 0.0,
+        "observation.tactile_pressure.right_middle_fingertip": 0.0,
+        "observation.tactile_pressure.right_middle_fingerpad": 0.0,
+        "observation.tactile_pressure.right_thumb_fingertip": 0.0,
+        "observation.tactile_pressure.right_thumb_fingerpad": 0.0,
+        "observation.tactile_pressure.right_index_fingertip": 0.8572509288787842,
+        "observation.tactile_pressure.right_index_fingerpad": 0.0,
+        "observation.tactile_pressure.right_ring_fingertip": 0.0,
+        "observation.tactile_pressure.right_ring_fingerpad": 0.0,
+        "observation.tactile_pressure.right_pinky_fingertip": 0.0,
+        "observation.tactile_pressure.right_pinky_fingerpad": 0.0,
+        "observation.tactile_pressure.right_palm": 0.0,
+        "observation.tactile_tip_wrench.right_fingers": 30.694988250732422
+      }
+    }
+  ],
+  "frames": 5424,
+  "action_horizon": 16,
+  "boundary_padding_verified": true,
+  "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here"
+}

meta/acceptance/kitchen/visual_review.json

@@ -0,0 +1,18 @@
+{
+  "reviewed": true,
+  "method": "Actual decoded frames viewed; no browser playback claimed.",
+  "frames": [
+    "overview_1200.jpg",
+    "overview_4500.jpg",
+    "head_5350.jpg",
+    "wrist_left_3000.jpg",
+    "wrist_right_3000.jpg"
+  ],
+  "observations": [
+    "Current cute RevoTron with textured MT hands visible.",
+    "Overview1200 shows lifted yellow food,4500 shows lifted red food and prior foods in bowl.",
+    "Final head view shows emptied pan, three food pieces in bowl and withdrawn hand.",
+    "Left fisheye shows palm, pan and opposite hand. Right fisheye shows pinch hand and red food."
+  ],
+  "scope": "Actual frame review; physical/numeric/official-reader checks required independently."
+}

meta/acceptance/plug_charger/command_continuity.json

@@ -0,0 +1,17 @@
+{
+  "dataset": "/home/lixin/RevoBench-refactor/outputs/charger_generic_full_001/lerobot",
+  "episodes": [
+    {
+      "episode": 0,
+      "frames": 2457,
+      "duration_s": 40.95,
+      "max_command_step_rad": 0.018723249435424805,
+      "peak_joint_speed_rad_s": 1.123412108033875,
+      "peak_joint_acceleration_rad_s2": 6.198452328644964,
+      "p99_frame_peak_speed_rad_s": 1.1006484987717569,
+      "command_holds_over_250ms": [],
+      "command_hold_total_s": 0
+    }
+  ],
+  "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness."
+}

meta/acceptance/plug_charger/local_video_decode.json

@@ -0,0 +1,76 @@
+{
+  "passed": true,
+  "videos": [
+    {
+      "file": "observation.images.head.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.overview.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_index.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_middle.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_pinky.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_ring.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_left_thumb.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_index.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_middle.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_pinky.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_ring.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.tactile_right_thumb.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_left.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    },
+    {
+      "file": "observation.images.wrist_right.mp4",
+      "frames": 2457,
+      "max_timestamp_error_s": 0.0
+    }
+  ],
+  "total_decoded_frames": 34398
+}

meta/acceptance/plug_charger/physical_report.json

@@ -0,0 +1,83 @@
+{
+  "physical_success": true,
+  "controller": {
+    "stage": "physical_insert_release",
+    "stage_complete": true,
+    "task_success": false,
+    "insertion_depth_m": 0.03299952106248871,
+    "position": [
+      -0.03811412304639816,
+      0.5422163009643555,
+      0.9477719068527222
+    ],
+    "pre_alignment": {
+      "stage": "grasp_lift_pre_alignment",
+      "stage_complete": true,
+      "position": [
+        -0.03983257710933685,
+        0.478974848985672,
+        0.9493460059165955
+      ],
+      "error_m": 0.00017222537452222465,
+      "angle_error_deg": 0.043012407180736484,
+      "corrections": [
+        {
+          "position": [
+            -0.03983257710933685,
+            0.478974848985672,
+            0.9493460059165955
+          ],
+          "error_m": 0.00017222537452222465,
+          "angle_error_deg": 0.043012407180736484
+        }
+      ],
+      "task_success": false,
+      "actuation": "Robot joint targets only; no object attachment or pose writes"
+    },
+    "actuation": "Robot joint targets only; no object attachment or pose writes",
+    "validation_required": true
+  },
+  "validation": {
+    "stage": "insert_release_withdraw",
+    "checks": {
+      "controller_completed": true,
+      "insertion_hold_recorded": true,
+      "post_release_hold_recorded": true,
+      "no_hand_arm_socket_collision": true,
+      "no_hand_arm_table_collision": true,
+      "insertion_force_limited": true,
+      "depth_retained_after_release": true,
+      "prongs_remain_in_correct_holes": true,
+      "hand_fully_released": true,
+      "stable_after_release": true
+    },
+    "metrics": {
+      "duration_s": 40.95,
+      "hand_arm_socket_peak_n": 0.0,
+      "charger_socket_peak_n": 3.3807473182678223,
+      "hand_arm_table_peak_n": 0.0,
+      "min_retained_depth_m": 0.032468315133263426,
+      "min_in_hole_geometry_margin_m": -5.032521509610102e-06,
+      "post_release_position_range_m": [
+        9.313225746154785e-08,
+        5.960464477539063e-08,
+        2.980232238769531e-07
+      ],
+      "post_release_max_speed_m_s": 0.008465894166786631,
+      "post_release_max_hand_force_n": 0.0
+    },
+    "all_pass": true,
+    "note": "Actual simulated poses and contacts. Peg-volume clipping against the socket slab checks both prongs; up to 0.5mm solver penetration tolerance. No object pose commands or attachment."
+  },
+  "control_hz": 60,
+  "physics_hz": 480.0,
+  "physical_trace_timing": "after corresponding action",
+  "observation_timing": "before corresponding action",
+  "task_physics": {
+    "hand_effort_limit_nm": 0.8,
+    "max_depenetration_velocity_m_s": 0.1,
+    "silicone_contact_stiffness": 280.0,
+    "silicone_contact_damping": 2.0
+  },
+  "termination_reason": "source_finished"
+}