Publish validated items_handover_aug_r001: 5 trajectories

items_handover_aug_r001/README.md

@@ -0,0 +1,7 @@
+# items_handover_aug_r001
+
+items_handover: 5 complete validated native trajectories, 2185 frames, 25 Hz, 14-dimensional CobotMagic states and actions, three 640×480 cameras.
+
+This is a genuine LeRobot v2.1 derivative of sealed native v3.0 shard `items_handover_shard_000508`. State/action and every other Arrow column remain exact. Videos are losslessly remuxed at verified episode keyframes; every decoded RGB frame matches the source. Canonical episode, object and variant IDs and source hashes are in `provenance/episodes.jsonl`. This conversion creates zero new physical trajectories.
+
+The v2.1 layout is intended for the pinned older π0.5 LeRobot loader. Training has not been run on this release. Geometry is still stored locally; its canonical IDs, exact SHA-256 and scale are recorded without claiming a Hugging Face object revision. Only train split is assigned; no independent evaluation split is claimed.

items_handover_aug_r001/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:76d4faead309285d1717ff17f440978f58843b5be5758a84cefa160c36e3679d
+size 203883

items_handover_aug_r001/data/chunk-000/episode_000001.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5af8c331a7450d5a5beab0643f0a5192c27cd6b854a3f108de83d9ddcf33fef6
+size 210417

items_handover_aug_r001/data/chunk-000/episode_000002.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d945eb88a9018152be0ba23c2481bd38b4335214e5416c3a37b3ca504c377ce8
+size 217276

items_handover_aug_r001/data/chunk-000/episode_000003.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6c45dcc3f587eeb5cb9200f56542ff97dec4022e212f44f2f619c2cbb79bf493
+size 212373

items_handover_aug_r001/data/chunk-000/episode_000004.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:833ba8e696e4aeb50b6f849ad4020c310276ce92e3c9cabf8f3d07c4903e6674
+size 216914

items_handover_aug_r001/meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["Pick up the pen, hand it over to the other arm and then place it in to the pen holder"], "length": 437}
+{"episode_index": 1, "tasks": ["Pick up the pen, hand it over to the other arm and then place it in to the pen holder"], "length": 437}
+{"episode_index": 2, "tasks": ["Pick up the pen, hand it over to the other arm and then place it in to the pen holder"], "length": 437}
+{"episode_index": 3, "tasks": ["Pick up the pen, hand it over to the other arm and then place it in to the pen holder"], "length": 437}
+{"episode_index": 4, "tasks": ["Pick up the pen, hand it over to the other arm and then place it in to the pen holder"], "length": 437}

items_handover_aug_r001/meta/info.json

@@ -0,0 +1,385 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "cobotmagic",
+    "total_episodes": 5,
+    "total_frames": 2185,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:5"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_joint1",
+                "left_joint2",
+                "left_joint3",
+                "left_joint4",
+                "left_joint5",
+                "left_joint6",
+                "left_joint7",
+                "right_joint1",
+                "right_joint2",
+                "right_joint3",
+                "right_joint4",
+                "right_joint5",
+                "right_joint6",
+                "right_joint7"
+            ]
+        },
+        "observation.qvel": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_joint1",
+                "left_joint2",
+                "left_joint3",
+                "left_joint4",
+                "left_joint5",
+                "left_joint6",
+                "left_joint7",
+                "right_joint1",
+                "right_joint2",
+                "right_joint3",
+                "right_joint4",
+                "right_joint5",
+                "right_joint6",
+                "right_joint7"
+            ]
+        },
+        "observation.qf": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_joint1",
+                "left_joint2",
+                "left_joint3",
+                "left_joint4",
+                "left_joint5",
+                "left_joint6",
+                "left_joint7",
+                "right_joint1",
+                "right_joint2",
+                "right_joint3",
+                "right_joint4",
+                "right_joint5",
+                "right_joint6",
+                "right_joint7"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_joint1",
+                "left_joint2",
+                "left_joint3",
+                "left_joint4",
+                "left_joint5",
+                "left_joint6",
+                "left_joint7",
+                "right_joint1",
+                "right_joint2",
+                "right_joint3",
+                "right_joint4",
+                "right_joint5",
+                "right_joint6",
+                "right_joint7"
+            ]
+        },
+        "observation.images.cam_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "task2000_pen_left_grasp_contact.position": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "position"
+        },
+        "task2000_pen_left_grasp_contact.normal": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "normal"
+        },
+        "task2000_pen_left_grasp_contact.friction": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "friction"
+        },
+        "task2000_pen_left_grasp_contact.impulse": {
+            "dtype": "float32",
+            "shape": [
+                64
+            ],
+            "names": "impulse"
+        },
+        "task2000_pen_left_grasp_contact.distance": {
+            "dtype": "float32",
+            "shape": [
+                64
+            ],
+            "names": "distance"
+        },
+        "task2000_pen_left_grasp_contact.user_ids": {
+            "dtype": "int32",
+            "shape": [
+                64,
+                2
+            ],
+            "names": "user_ids"
+        },
+        "task2000_pen_left_grasp_contact.is_valid": {
+            "dtype": "bool",
+            "shape": [
+                64
+            ],
+            "names": "is_valid"
+        },
+        "task2000_pen_right_grasp_contact.position": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "position"
+        },
+        "task2000_pen_right_grasp_contact.normal": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "normal"
+        },
+        "task2000_pen_right_grasp_contact.friction": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "friction"
+        },
+        "task2000_pen_right_grasp_contact.impulse": {
+            "dtype": "float32",
+            "shape": [
+                64
+            ],
+            "names": "impulse"
+        },
+        "task2000_pen_right_grasp_contact.distance": {
+            "dtype": "float32",
+            "shape": [
+                64
+            ],
+            "names": "distance"
+        },
+        "task2000_pen_right_grasp_contact.user_ids": {
+            "dtype": "int32",
+            "shape": [
+                64,
+                2
+            ],
+            "names": "user_ids"
+        },
+        "task2000_pen_right_grasp_contact.is_valid": {
+            "dtype": "bool",
+            "shape": [
+                64
+            ],
+            "names": "is_valid"
+        },
+        "task2000_pen_holder_contact.position": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "position"
+        },
+        "task2000_pen_holder_contact.normal": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "normal"
+        },
+        "task2000_pen_holder_contact.friction": {
+            "dtype": "float32",
+            "shape": [
+                64,
+                3
+            ],
+            "names": "friction"
+        },
+        "task2000_pen_holder_contact.impulse": {
+            "dtype": "float32",
+            "shape": [
+                64
+            ],
+            "names": "impulse"
+        },
+        "task2000_pen_holder_contact.distance": {
+            "dtype": "float32",
+            "shape": [
+                64
+            ],
+            "names": "distance"
+        },
+        "task2000_pen_holder_contact.user_ids": {
+            "dtype": "int32",
+            "shape": [
+                64,
+                2
+            ],
+            "names": "user_ids"
+        },
+        "task2000_pen_holder_contact.is_valid": {
+            "dtype": "bool",
+            "shape": [
+                64
+            ],
+            "names": "is_valid"
+        },
+        "pen_pose": {
+            "dtype": "float32",
+            "shape": [
+                4,
+                4
+            ],
+            "names": "pen_pose"
+        },
+        "holder_pose": {
+            "dtype": "float32",
+            "shape": [
+                4,
+                4
+            ],
+            "names": "holder_pose"
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "total_chunks": 1,
+    "total_videos": 15
+}

items_handover_aug_r001/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Pick up the pen, hand it over to the other arm and then place it in to the pen holder"}

items_handover_aug_r001/provenance/conversion_program.py

@@ -0,0 +1,182 @@
+"""Export closed native v3 shards to independent, lossless v2.1 HF releases.
+
+Only new staging outputs are written. Sealed source datasets, the production
+ledger, assets and receipts remain untouched. Existing converter metadata/data
+helpers are reused; video segments are remuxed at verified episode keyframes.
+"""
+
+from __future__ import annotations
+
+import hashlib
+import importlib.util
+import json
+from pathlib import Path
+import sqlite3
+from fractions import Fraction
+import shutil
+import subprocess
+
+import av
+import numpy as np
+import pyarrow.parquet as pq
+
+ROOT = Path(__file__).resolve().parents[2]
+CAMPAIGN = ROOT / "web/runs/data_generation/task2000_v1"
+DEST = CAMPAIGN / "release_staging/hf_initial_task_release_v1/compatible_v21"
+SHARDS = ((508, "items_handover_aug_r001"), (526, "item_assembly_aug_r001"))
+
+
+def sha(path: Path) -> str:
+    h = hashlib.sha256()
+    with path.open("rb") as f:
+        for block in iter(lambda: f.read(1024 * 1024), b""):
+            h.update(block)
+    return h.hexdigest()
+
+
+def write_json(path: Path, value: object) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(json.dumps(value, indent=2, ensure_ascii=False, allow_nan=False) + "\n")
+
+
+def hashes(root: Path) -> dict[str, str]:
+    return {str(p.relative_to(root)): sha(p) for p in sorted(root.rglob("*")) if p.is_file()}
+
+
+def packet_split(src: Path, dst: Path, start: float, length: int, fps: int) -> dict:
+    """Copy compressed packets exactly; refuse a non-keyframe episode boundary."""
+    dst.parent.mkdir(parents=True, exist_ok=True)
+    with av.open(str(src)) as reader:
+        stream = reader.streams.video[0]
+        base = stream.time_base
+        begin = Fraction(str(start)) / base
+        ticks = Fraction(1, fps) / base
+        if begin.denominator != 1 or ticks.denominator != 1:
+            raise ValueError("Episode boundary is not an integer source timestamp")
+        begin, ticks = int(begin), int(ticks)
+        end = begin + length * ticks
+        reader.seek(begin, stream=stream, backward=True, any_frame=False)
+        count = 0
+        for packet in reader.demux(stream):
+            if packet.pts is None or packet.pts < begin:
+                continue
+            if packet.pts >= end:
+                break
+            if packet.pts != begin + count * ticks or packet.dts != packet.pts:
+                raise ValueError("Packet timing is not an exact monotonic 25 Hz sequence")
+            if count == 0 and not packet.is_keyframe:
+                raise ValueError("Episode does not start with a codec keyframe")
+            count += 1
+        if count != length:
+            raise ValueError(f"Video packet count mismatch: {count} != {length}")
+    subprocess.run(["/home/graphvix/miniforge3/envs/robosyn/bin/ffmpeg", "-hide_banner", "-loglevel", "error", "-ss", f"{start:.6f}", "-i", str(src), "-t", f"{length / fps:.6f}", "-map", "0:v:0", "-c", "copy", "-avoid_negative_ts", "1", "-y", str(dst)], check=True, capture_output=True, timeout=300)
+    return {"packets": count, "first_packet_keyframe": True, "method": "lossless_ffmpeg_stream_copy"}
+
+
+def decoded_hashes(path: Path, lengths: list[int], fps: int) -> list[str]:
+    """Fully decode each source/output frame and hash the exact RGB pixels."""
+    total = sum(lengths)
+    result, h, ep, in_ep, count = [], hashlib.sha256(), 0, 0, 0
+    with av.open(str(path)) as container:
+        stream = container.streams.video[0]
+        stream.codec_context.thread_count = 2
+        if stream.average_rate != Fraction(fps, 1):
+            raise ValueError("Unexpected video rate")
+        for frame in container.decode(stream):
+            if (frame.width, frame.height) != (640, 480):
+                raise ValueError("Unexpected camera resolution")
+            if frame.pts is None or abs(float(frame.pts * frame.time_base) - count / fps) > 1e-5:
+                raise ValueError("Decoded video has a dropped, shifted or duplicated timestamp")
+            if ep >= len(lengths):
+                raise ValueError("Extra decoded frames")
+            h.update(frame.to_ndarray(format="rgb24").tobytes())
+            in_ep += 1
+            count += 1
+            if in_ep == lengths[ep]:
+                result.append(h.hexdigest())
+                h, ep, in_ep = hashlib.sha256(), ep + 1, 0
+    if count != total or ep != len(lengths) or in_ep:
+        raise ValueError(f"Decoded video length mismatch: {count} != {total}")
+    return result
+
+
+def main() -> None:
+    spec = importlib.util.spec_from_file_location("existing_v21_converter", ROOT / "scripts/convert_lerobot3.0_to_2.1.py")
+    conv = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(conv)
+    DEST.mkdir(parents=True, exist_ok=True)
+    db = sqlite3.connect(f"file:{CAMPAIGN / 'production.sqlite3'}?mode=ro", uri=True)
+    db.row_factory = sqlite3.Row
+    summary = []
+    for number, release in SHARDS:
+        shard = db.execute("SELECT id,task,state,qualified,profile FROM shards WHERE number=?", (number,)).fetchone()
+        assert shard["state"] == "complete" and shard["qualified"] == 5
+        rows = db.execute("SELECT id,payload FROM episodes WHERE shard=? ORDER BY native_episode", (shard["id"],)).fetchall()
+        episodes = [json.loads(r["payload"]) for r in rows]
+        source = Path(episodes[0]["dataset"])
+        result = Path(episodes[0]["shard"])
+        source_hashes = hashes(source)
+        validation = json.loads((result / "validation.json").read_text())
+        assert len(episodes) == validation["accepted_episodes"] == 5 and validation["status"] == "passed"
+        assert all(x["quality"]["passed"] and all(x["quality"]["checks"].values()) for x in validation["episode_checks"])
+        target = DEST / release
+        if target.exists():
+            raise FileExistsError(f"Refuse to overwrite prepared release: {target}")
+        target.mkdir()
+        records = conv.load_episode_records(source)
+        info = conv.load_info(source)
+        assert info["codebase_version"] == "v3.0" and info["fps"] == 25
+        assert len(records) == 5 and [int(x["episode_index"]) for x in records] == list(range(5))
+        cameras = sorted(k for k, v in info["features"].items() if v["dtype"] == "video")
+        assert cameras == ["observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_right_wrist"]
+        chunks = int(info["chunks_size"])
+        conv.convert_info(source, target, records, cameras)
+        conv.copy_global_stats(source, target)
+        conv.convert_tasks(source, target)
+        conv.convert_data(source, target, records, chunks)
+        conv.convert_episodes_metadata(target, records)
+        lengths = [int(r["length"]) for r in records]
+        videos = []
+        for camera in cameras:
+            source_video = source / info["video_path"].format(video_key=camera, chunk_index=0, file_index=0)
+            expected = decoded_hashes(source_video, lengths, 25)
+            for record, expected_rgb in zip(records, expected):
+                ep = int(record["episode_index"])
+                destination = target / conv.LEGACY_VIDEO_PATH_TEMPLATE.format(episode_chunk=ep // chunks, episode_index=ep, video_key=camera)
+                proof = packet_split(source_video, destination, float(record[f"videos/{camera}/from_timestamp"]), int(record["length"]), 25)
+                actual_rgb = decoded_hashes(destination, [int(record["length"])], 25)[0]
+                assert expected_rgb == actual_rgb
+                videos.append({"episode_index": ep, "camera": camera, "frames": int(record["length"]), "fps": 25, "width": 640, "height": 480, "source_rgb_sha256": expected_rgb, "converted_rgb_sha256": actual_rgb, **proof})
+        arrays = []
+        source_table = pq.read_table(source / info["data_path"].format(chunk_index=0, file_index=0))
+        for record in records:
+            ep = int(record["episode_index"])
+            original = source_table.slice(int(record["dataset_from_index"]), int(record["length"])).replace_schema_metadata(None)
+            transformed = pq.read_table(target / conv.LEGACY_DATA_PATH_TEMPLATE.format(episode_chunk=ep // chunks, episode_index=ep))
+            assert original.equals(transformed)
+            for key in ("observation.state", "action"):
+                arr = np.stack(transformed[key].to_pylist())
+                assert arr.shape == (int(record["length"]), 14) and np.isfinite(arr).all()
+            assert np.allclose(np.asarray(transformed["timestamp"].to_pylist()), np.arange(int(record["length"]))/25, atol=1e-5, rtol=0)
+            arrays.append({"episode_index": ep, "all_arrow_columns_values_exact": True, "finite_14d_state_action": True, "timestamps_25hz": True, "frames": int(record["length"])})
+        assert hashes(source) == source_hashes
+        provenance = target / "provenance"
+        provenance.mkdir()
+        source_release = DEST.parent / release
+        if source_release.is_dir():
+            shutil.copytree(source_release / "provenance", provenance / "source_release")
+            shutil.copy2(source_release / "release_manifest.json", provenance / "source_release_manifest.json")
+        (provenance / "episodes.jsonl").write_text("".join(json.dumps(e, ensure_ascii=False, allow_nan=False) + "\n" for e in episodes))
+        write_json(provenance / "source_validation.json", validation)
+        output_hashes = hashes(target)
+        receipt = {"status": "passed", "release_id": release, "task": shard["task"], "source_shard_id": shard["id"], "source_profile_id": shard["profile"], "source_dataset": str(source), "output_dataset": str(target), "source_format": "v3.0", "output_format": "v2.1", "episodes": 5, "frames": sum(lengths), "fps": 25, "independent_physical_episode_count_added": 0, "source_dataset_unchanged": True, "source_file_sha256": source_hashes, "converted_file_sha256": output_hashes, "data_checks": arrays, "video_checks": videos, "canonical_episode_ids": [e["id"] for e in episodes], "existing_converter_sha256": sha(ROOT / "scripts/convert_lerobot3.0_to_2.1.py"), "conversion_script_sha256": sha(Path(__file__)), "training_executed": False, "objects_repo_id": None, "hf_revision": None}
+        write_json(provenance / "conversion_receipt.json", receipt)
+        (target / "README.md").write_text(f"# {release}\n\n{shard['task']}: 5 complete validated native trajectories, {sum(lengths)} frames, 25 Hz, 14-dimensional CobotMagic states and actions, three 640×480 cameras.\n\nThis is a genuine LeRobot v2.1 derivative of sealed native v3.0 shard `{shard['id']}`. State/action and every other Arrow column remain exact. Videos are losslessly remuxed at verified episode keyframes; every decoded RGB frame matches the source. Canonical episode, object and variant IDs and source hashes are in `provenance/episodes.jsonl`. This conversion creates zero new physical trajectories.\n\nThe v2.1 layout is intended for the pinned older π0.5 LeRobot loader. Training has not been run on this release. Geometry is still stored locally; its canonical IDs, exact SHA-256 and scale are recorded without claiming a Hugging Face object revision. Only train split is assigned; no independent evaluation split is claimed.\n")
+        write_json(target / "release_manifest.json", {"schema_version": "task2000.hf_derived_release.v1", "release_id": release, "task": shard["task"], "episodes": 5, "source_dataset_codebase_version": "v3.0", "dataset_codebase_version": "v2.1", "conversion_receipt": "provenance/conversion_receipt.json", "files": hashes(target), "hf_revision": None, "training_executed": False})
+        summary.append({"release": release, "dataset": str(target), "episodes": 5, "frames": sum(lengths), "receipt_sha256": sha(provenance / "conversion_receipt.json")})
+        print(json.dumps(summary[-1]), flush=True)
+    write_json(DEST / "conversion_summary.json", {"status": "passed", "releases": summary, "episodes": 10, "new_independent_trajectories": 0})
+
+
+if __name__ == "__main__":
+    main()

items_handover_aug_r001/provenance/conversion_receipt.json

@@ -0,0 +1,312 @@
+{
+  "status": "passed",
+  "release_id": "items_handover_aug_r001",
+  "task": "items_handover",
+  "source_shard_id": "items_handover_shard_000508",
+  "source_profile_id": "items_handover_profile_e7037c1630f84491",
+  "source_dataset": "/home/graphvix/projects/RoboSynChallenge/web/runs/data_generation/task2000_v1/shards/items_handover_shard_000508/result/dataset/cobotmagic_Sim_items_handover_000",
+  "output_dataset": "/home/graphvix/projects/RoboSynChallenge/web/runs/data_generation/task2000_v1/release_staging/hf_initial_task_release_v1/compatible_v21/items_handover_aug_r001",
+  "source_format": "v3.0",
+  "output_format": "v2.1",
+  "episodes": 5,
+  "frames": 2185,
+  "fps": 25,
+  "independent_physical_episode_count_added": 0,
+  "source_dataset_unchanged": true,
+  "source_file_sha256": {
+    "data/chunk-000/file-000.parquet": "131eb7f2bd992eee981a42397a89e53ee1c0376d2805edf02677b14122ddb3d0",
+    "meta/episodes/chunk-000/file-000.parquet": "badbac7eedf43bdeb59ecc68a8e148830b4800261d1cabe449283c253d42f7aa",
+    "meta/info.json": "a26e76b825beeb29efd5e79ecd50c73fd3a8918dce8ff733ce5f4198e8ba784d",
+    "meta/stats.json": "f8082d92256ac7d9c4426210ace5d7fbe9112cd80ab11ec43d368719d8775229",
+    "meta/tasks.parquet": "79cffa5fd4ea0cc5b2ba603f643c642809a202683ad062c69b7358465db3966f",
+    "videos/observation.images.cam_high/chunk-000/file-000.mp4": "5ab8a42cc7bf3d3469b17cd87e5d8e7a95baeb33b14fe42284369b4569cddbcf",
+    "videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4": "0391f42b67606f2a05682fb115bb42ab2e929e1d61ae004948f4eb756e262d59",
+    "videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4": "4092aa214fdaf2306240630a94210c1832baa7295f767e6c41f28ecc4b9d5f12"
+  },
+  "converted_file_sha256": {
+    "data/chunk-000/episode_000000.parquet": "76d4faead309285d1717ff17f440978f58843b5be5758a84cefa160c36e3679d",
+    "data/chunk-000/episode_000001.parquet": "5af8c331a7450d5a5beab0643f0a5192c27cd6b854a3f108de83d9ddcf33fef6",
+    "data/chunk-000/episode_000002.parquet": "d945eb88a9018152be0ba23c2481bd38b4335214e5416c3a37b3ca504c377ce8",
+    "data/chunk-000/episode_000003.parquet": "6c45dcc3f587eeb5cb9200f56542ff97dec4022e212f44f2f619c2cbb79bf493",
+    "data/chunk-000/episode_000004.parquet": "833ba8e696e4aeb50b6f849ad4020c310276ce92e3c9cabf8f3d07c4903e6674",
+    "meta/episodes.jsonl": "64ce7c7092bda5ac1bca6f27ba10e968378d8f6bbf54ebda652c7b442b0b69a9",
+    "meta/episodes_stats.jsonl": "e81edb4c259f48fa0b09e479a5f5c3cc88f2110f1db87e209394f6883dcbaa63",
+    "meta/info.json": "95fdee07042bafc81d526d4cdbaaeb2b230830f50a31c5deddec858357fceb2c",
+    "meta/stats.json": "f8082d92256ac7d9c4426210ace5d7fbe9112cd80ab11ec43d368719d8775229",
+    "meta/tasks.jsonl": "1a97d4240c5c68634ab1554a777e3e0f2d5ed1da21a309aa93f679a2d44ca135",
+    "provenance/episodes.jsonl": "02bf107813c12dcd3f1ac2918c5bbcc6ea0413d0bdafbb002572693046654bda",
+    "provenance/source_release/action_config.json": "3e032a04c6f64641d5a4585c01ffccb17d54ffbfb3c7a97392618dce68dd66a9",
+    "provenance/source_release/episodes.jsonl": "f6514d9b45a442cadb045103600571bdc3fe95e66d86a05bfa894ee24f998a81",
+    "provenance/source_release/gym_config.json": "0d41c985fae147c7a5557544805bbaeac715fa0d21f682ecea270ccb01d03d54",
+    "provenance/source_release/production_metadata.json": "e57d05f93a3f14ecf8e4845fcfe64bdeec4723ea9049dcecc3826b4ce443e237",
+    "provenance/source_release/profile.json": "75e31f13a1ac60b1581f81ff902e61aa52d3757fbb811d2763b6cf32e9feb4f9",
+    "provenance/source_release/release_validation.json": "c94db8c669ec02548e96f6107da53ca323f77eb3268f57c80507dc532e4a45ac",
+    "provenance/source_release/source_READY": "cf7e18c4666ad030a537b10f18535a128660f2e8be6c254fad019a75eebc4e52",
+    "provenance/source_release/source_manifest.json": "11e1e126bff3a6b1cb1118c1c991ef0c58e7a17dab2572e9a32770e10a73edc8",
+    "provenance/source_release/source_receipt.json": "1e225104cd372a0eb5be5f718a721a64565691612085ca2e6ee6e25b9f7221ec",
+    "provenance/source_release/source_validation.json": "0079a239e1604845e02f81173d2012af322c0f918b75fa57a4697159e6abd4da",
+    "provenance/source_release_manifest.json": "f96b8de5a7a9eff3fc9829d50cb96f29e744a5f1697cb5477e3022bdf931186d",
+    "provenance/source_validation.json": "0079a239e1604845e02f81173d2012af322c0f918b75fa57a4697159e6abd4da",
+    "videos/chunk-000/observation.images.cam_high/episode_000000.mp4": "e788760ee03a0039cc685cea59dd5424c14c811ee5ea80bf318e5e896e07be6e",
+    "videos/chunk-000/observation.images.cam_high/episode_000001.mp4": "ebc22f28cdc9b78fef7eccad5fa96f4099e809cd9d1d24708e8110df1dcaabc6",
+    "videos/chunk-000/observation.images.cam_high/episode_000002.mp4": "2c3ee720a16d0448e9dcfc6c98c666ec533a841a586b38446fcff62eda5cb749",
+    "videos/chunk-000/observation.images.cam_high/episode_000003.mp4": "27b3053a9fd2efa076df57cce0e9088e1de8a350978532ab8b0f104a3a3dd7a3",
+    "videos/chunk-000/observation.images.cam_high/episode_000004.mp4": "5b436644675ee4d7f538e0dd52362d2228eadfc3d9b4b849cba14aa64bcca0b2",
+    "videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4": "8641e2f017fbfe179ed27d59bff8b60a67bbf9a3f4359e726efa12ecd6136b02",
+    "videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4": "ae5424dde3f477713e23104bca785c1c37f8d1ffcae7a945f02bc338e7a8a78a",
+    "videos/chunk-000/observation.images.cam_left_wrist/episode_000002.mp4": "c222ab490bb4b3117450396ead1eec49c4f51bcb7e9485b30e75a604ebc45e49",
+    "videos/chunk-000/observation.images.cam_left_wrist/episode_000003.mp4": "4c4ea9cbebc6a06124db30d920877b3b0abeacc771b6a43a457bf38c3ad9ca66",
+    "videos/chunk-000/observation.images.cam_left_wrist/episode_000004.mp4": "23ffa9b113ff17dfae86c4945796ea92bf8d5e166ef15257ed822a38d0d7768d",
+    "videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4": "f56fca83c53a6a684999053a203e5e2688ffb42c6065bd33ec2a45cec34d9aba",
+    "videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4": "91c3469745d1f14fe74bf8a3de685873529e7f95c4487b343095ab6b5cd38335",
+    "videos/chunk-000/observation.images.cam_right_wrist/episode_000002.mp4": "55d736880956052a19c83622cf6aee0cd246e8e106ce49ae00d723c7213dddf4",
+    "videos/chunk-000/observation.images.cam_right_wrist/episode_000003.mp4": "34a6cd0295d49527f927f81d16e06b1a5f70f7cb162332f711c34497957f80ff",
+    "videos/chunk-000/observation.images.cam_right_wrist/episode_000004.mp4": "f7f1dd4777ec8fe24ae2aeb39a69d64b697a62700ac8a5118b19709eae55e2ee"
+  },
+  "data_checks": [
+    {
+      "episode_index": 0,
+      "all_arrow_columns_values_exact": true,
+      "finite_14d_state_action": true,
+      "timestamps_25hz": true,
+      "frames": 437
+    },
+    {
+      "episode_index": 1,
+      "all_arrow_columns_values_exact": true,
+      "finite_14d_state_action": true,
+      "timestamps_25hz": true,
+      "frames": 437
+    },
+    {
+      "episode_index": 2,
+      "all_arrow_columns_values_exact": true,
+      "finite_14d_state_action": true,
+      "timestamps_25hz": true,
+      "frames": 437
+    },
+    {
+      "episode_index": 3,
+      "all_arrow_columns_values_exact": true,
+      "finite_14d_state_action": true,
+      "timestamps_25hz": true,
+      "frames": 437
+    },
+    {
+      "episode_index": 4,
+      "all_arrow_columns_values_exact": true,
+      "finite_14d_state_action": true,
+      "timestamps_25hz": true,
+      "frames": 437
+    }
+  ],
+  "video_checks": [
+    {
+      "episode_index": 0,
+      "camera": "observation.images.cam_high",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "6adfcca41456f1c2b154dc909e8c298a1972cfae5cc8e1ed85647b5d09afdad0",
+      "converted_rgb_sha256": "6adfcca41456f1c2b154dc909e8c298a1972cfae5cc8e1ed85647b5d09afdad0",
+      "packets": 437,
+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 1,
+      "camera": "observation.images.cam_high",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "f10d68e81df1130223bdbf7f030919dd6305f5d0c02b3e8bdcef7f6b43b63698",
+      "converted_rgb_sha256": "f10d68e81df1130223bdbf7f030919dd6305f5d0c02b3e8bdcef7f6b43b63698",
+      "packets": 437,
+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 2,
+      "camera": "observation.images.cam_high",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "9c78f85ae4a31b44e767730aa2cb7a60dc9eee5850924d4737e59cbbbb10a09a",
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+      "packets": 437,
+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
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+      "camera": "observation.images.cam_high",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
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+      "source_rgb_sha256": "e365e0cd2d90e66e1482b8f46b6d237b35f4fe4cba6057dc0414937ec4e6c994",
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
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+      "camera": "observation.images.cam_high",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 0,
+      "camera": "observation.images.cam_left_wrist",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "b26ff28054fdd4b98f27df1230ee6d8c3c3b4644753f3f1fa4fa8472372e1069",
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 1,
+      "camera": "observation.images.cam_left_wrist",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "15a38421bab70213807e1ab1c2efbe36b554a23dfd1c50863c8f61957d58e4e3",
+      "converted_rgb_sha256": "15a38421bab70213807e1ab1c2efbe36b554a23dfd1c50863c8f61957d58e4e3",
+      "packets": 437,
+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 2,
+      "camera": "observation.images.cam_left_wrist",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "20c0d804cebc5a96a867b7cdc8d984d91345452a2fd1c584f1025fbfe99c1ea9",
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+    {
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+      "camera": "observation.images.cam_left_wrist",
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+      "first_packet_keyframe": true,
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+      "camera": "observation.images.cam_left_wrist",
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
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+      "camera": "observation.images.cam_right_wrist",
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
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+      "camera": "observation.images.cam_right_wrist",
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+      "source_rgb_sha256": "ba5a260cbe76a8a3e0a786fd2133b981d5732f85f91da6bc4011db96d67b7ca6",
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
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+      "camera": "observation.images.cam_right_wrist",
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+      "fps": 25,
+      "width": 640,
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+      "source_rgb_sha256": "14ada0a842230f7c67ee544426afe9ae2442911df24d3a3536fe60a9ac357049",
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+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 3,
+      "camera": "observation.images.cam_right_wrist",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "d1e13e3fa8f54828c94dcf1cab374f7410269fa29d743c0a0df47050a9915cfd",
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+      "packets": 437,
+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    },
+    {
+      "episode_index": 4,
+      "camera": "observation.images.cam_right_wrist",
+      "frames": 437,
+      "fps": 25,
+      "width": 640,
+      "height": 480,
+      "source_rgb_sha256": "505e3b76e3e9c2c356d816557f7d7b0175a38aacf7094e50608064c6312efd0a",
+      "converted_rgb_sha256": "505e3b76e3e9c2c356d816557f7d7b0175a38aacf7094e50608064c6312efd0a",
+      "packets": 437,
+      "first_packet_keyframe": true,
+      "method": "lossless_ffmpeg_stream_copy"
+    }
+  ],
+  "canonical_episode_ids": [
+    "items_handover_00002431",
+    "items_handover_00002432",
+    "items_handover_00002433",
+    "items_handover_00002434",
+    "items_handover_00002435"
+  ],
+  "existing_converter_sha256": "5b3bf253917a4f65c1e352640f690528d6e507f7534778b21cf0ddfa1cb2cc65",
+  "conversion_script_sha256": "d60f0e4f88244b92044f8f92195761c9ebb5da9aa4eb24a787abca11f8bfa0da",
+  "training_executed": false,
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+  "hf_revision": null
+}

items_handover_aug_r001/provenance/episodes.jsonl

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items_handover_aug_r001/provenance/old_loader_CPU_receipt.json

@@ -0,0 +1,156 @@
+{
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+  "GPU_used": false
+}

items_handover_aug_r001/provenance/source_release/action_config.json

@@ -0,0 +1,1466 @@
+{
+  "scope": {
+    "right_arm": {
+      "type": "DiGraph",
+      "dim": [
+        6
+      ],
+      "init": {
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+        "init_node_name": "right_arm_init_qpos"
+      },
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+        "init_node_name": "left_arm_init_qpos"
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+      "dtype": "float32"
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+      "dim": [
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+      "init": {
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+        "kwargs": {
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+        "init_node_name": ""
+      },
+      "dtype": "float32"
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+    "right_eef": {
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+      "dim": [
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+      "init": {
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+        "kwargs": {
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+          ]
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+        "init_node_name": ""
+      },
+      "dtype": "float32"
+    }
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+  "node": {
+    "right_arm": [
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+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_init_qpos",
+                "dst_key": "right_arm_init_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_fk_xpos",
+                        "kwargs": {
+                          "control_part": "right_arm",
+                          "fk_func": "env.robot.compute_fk"
+                        }
+                      }
+                    ]
+                  }
+                ]
+              }
+            ]
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+        }
+      },
+      {
+        "right_arm_aim_qpos": {
+          "name": "generate_right_arm_aim_qpos",
+          "kwargs": {}
+        }
+      },
+      {
+        "right_arm_pen_grasp": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "pen_grasp_pose",
+                "dst_key": "right_arm_pen_grasp_pose",
+                "valid_funcs_name_kwargs_proc": [
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+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": -0.003,
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": 180,
+                          "rot_axis": "x",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      },
+                      {
+                        "name": "get_aligned_pose",
+                        "kwargs": {
+                          "align_vector": [
+                            0,
+                            0,
+                            -1
+                          ],
+                          "pose_axis": "z"
+                        }
+                      }
+                    ]
+                  }
+                ]
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+              {
+                "src_key": "right_arm_pen_grasp_pose",
+                "dst_key": "right_arm_pen_pre1_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": -0.1,
+                          "direction": "z",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": 30,
+                          "rot_axis": "y",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      }
+                    ]
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "right_arm_pen_pre1_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_pre1_pose",
+                "dst_key": "right_arm_pen_pre1_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['right_arm_init_qpos']",
+                      "control_part": "right_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['right_arm_init_qpos']",
+                          "control_part": "right_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['right_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "right_arm_pen_grasp_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_grasp_pose",
+                "dst_key": "right_arm_pen_grasp_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['right_arm_pen_pre1_qpos']",
+                      "control_part": "right_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['right_arm_pen_pre1_qpos']",
+                          "control_part": "right_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['right_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "right_arm_pen_up_pose": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_grasp_pose",
+                "dst_key": "right_arm_pen_up_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_replaced_pose",
+                        "kwargs": {
+                          "pose_replace_value": [
+                            0.62,
+                            -0.15
+                          ],
+                          "axis_str_replace": "xy"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": 0.2,
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": 45,
+                          "rot_axis": "y",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      }
+                    ]
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "right_arm_pen_up_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_up_pose",
+                "dst_key": "right_arm_pen_up_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['right_arm_pen_grasp_qpos']",
+                      "control_part": "right_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['right_arm_pen_grasp_qpos']",
+                          "control_part": "right_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['right_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "right_arm_pen_handover_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_up_pose",
+                "dst_key": "right_arm_pen_handover_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_replaced_pose",
+                        "kwargs": {
+                          "pose_replace_value": [
+                            0.65,
+                            0.05
+                          ],
+                          "axis_str_replace": "xy"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": 0.02,
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_rotation_replaced_pose",
+                        "kwargs": {
+                          "rotation_value": -135,
+                          "rot_axis": "z",
+                          "mode": "extrinsic",
+                          "degrees": true
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": -90,
+                          "rot_axis": "y",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": 45,
+                          "rot_axis": "z",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      }
+                    ]
+                  }
+                ]
+              },
+              {
+                "src_key": "right_arm_pen_handover_pose",
+                "dst_key": "right_arm_pen_handover_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['right_arm_pen_up_qpos']",
+                      "control_part": "right_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['right_arm_pen_up_qpos']",
+                          "control_part": "right_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['right_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "right_arm_pen_back_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_handover_pose",
+                "dst_key": "right_arm_pen_back_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": 0.1,
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": -0.05,
+                          "direction": "y",
+                          "mode": "extrinsic"
+                        }
+                      }
+                    ]
+                  }
+                ]
+              },
+              {
+                "src_key": "right_arm_pen_back_pose",
+                "dst_key": "right_arm_pen_back_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['right_arm_pen_handover_qpos']",
+                      "control_part": "right_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['right_arm_pen_handover_qpos']",
+                          "control_part": "right_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['right_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      }
+    ],
+    "left_arm": [
+      {
+        "left_arm_init_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "left_arm_init_qpos",
+                "dst_key": "left_arm_init_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_fk_xpos",
+                        "kwargs": {
+                          "control_part": "left_arm",
+                          "fk_func": "env.robot.compute_fk"
+                        }
+                      }
+                    ]
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "left_arm_pen_takeover_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_handover_pose",
+                "dst_key": "left_arm_pen_takeover_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['right_arm_pen_grasp_pose'][:3,:3].T.dot(env.affordance_datas['pen_pose'][:3,3] + env.affordance_datas['pen_pose'][:3,:3].dot([.045,0.,0.]) - env.affordance_datas['right_arm_pen_grasp_pose'][:3,3])[0]",
+                          "direction": "x",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['right_arm_pen_grasp_pose'][:3,:3].T.dot(env.affordance_datas['pen_pose'][:3,3] + env.affordance_datas['pen_pose'][:3,:3].dot([.045,0.,0.]) - env.affordance_datas['right_arm_pen_grasp_pose'][:3,3])[1]",
+                          "direction": "y",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['right_arm_pen_grasp_pose'][:3,:3].T.dot(env.affordance_datas['pen_pose'][:3,3] + env.affordance_datas['pen_pose'][:3,:3].dot([.045,0.,0.]) - env.affordance_datas['right_arm_pen_grasp_pose'][:3,3])[2]",
+                          "direction": "z",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": -90,
+                          "rot_axis": "x",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": 0.02,
+                          "direction": "z",
+                          "mode": "intrinsic"
+                        }
+                      }
+                    ]
+                  }
+                ]
+              },
+              {
+                "src_key": "left_arm_pen_takeover_pose",
+                "dst_key": "left_arm_pen_takeover_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['left_arm_init_qpos']",
+                      "control_part": "left_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['left_arm_init_qpos']",
+                          "control_part": "left_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['left_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "pen_pre1_takeover_pose_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "left_arm_pen_takeover_pose",
+                "dst_key": "left_arm_pen_pre1_takeover_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": -0.05,
+                          "direction": "z",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_rotated_pose",
+                        "kwargs": {
+                          "rot_angle": 0,
+                          "rot_axis": "x",
+                          "mode": "intrinsic",
+                          "degrees": true
+                        }
+                      }
+                    ]
+                  }
+                ]
+              },
+              {
+                "src_key": "left_arm_pen_pre1_takeover_pose",
+                "dst_key": "left_arm_pen_pre1_takeover_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['left_arm_pen_takeover_qpos']",
+                      "control_part": "left_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['left_arm_pen_takeover_qpos']",
+                          "control_part": "left_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['left_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "left_arm_aim_qpos": {
+          "name": "generate_left_arm_aim_qpos",
+          "kwargs": {}
+        }
+      },
+      {
+        "left_arm_pen_move_pose_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_grasp_pose",
+                "dst_key": "left_arm_pen_move_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": "env.affordance_datas['pen_pose'].tolist()",
+                          "mode": "extrinsic",
+                          "inverse": true
+                        }
+                      },
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": "env.affordance_datas['right_arm_pen_handover_pose'].tolist()",
+                          "mode": "intrinsic",
+                          "inverse": true
+                        }
+                      },
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": "env.affordance_datas['left_arm_pen_takeover_pose'].tolist()",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": [
+                            [
+                              1.110223024625157e-16,
+                              -0.8660254037844386,
+                              -0.5000000000000002,
+                              -6.391399453098233e-05
+                            ],
+                            [
+                              1.9229626863835638e-16,
+                              0.5000000000000002,
+                              -0.8660254037844386,
+                              3.6903975027224346e-05
+                            ],
+                            [
+                              1.0,
+                              0.0,
+                              2.220446049250313e-16,
+                              0.07138961
+                            ],
+                            [
+                              0.0,
+                              0.0,
+                              0.0,
+                              1.0
+                            ]
+                          ],
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['holder_pose'][0,3] + (env.affordance_datas['holder_pose'][:3,:3] @ [0.0, 0.017015365000000005, 0.0])[0]",
+                          "direction": "x",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['holder_pose'][1,3] + (env.affordance_datas['holder_pose'][:3,:3] @ [0.0, 0.017015365000000005, 0.0])[1]",
+                          "direction": "y",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['holder_pose'][2,3] + (env.affordance_datas['holder_pose'][:3,:3] @ [0.0, 0.017015365000000005, 0.0])[2]",
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": 0.12,
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      }
+                    ]
+                  }
+                ]
+              },
+              {
+                "src_key": "left_arm_pen_move_pose",
+                "dst_key": "left_arm_pen_move_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['left_arm_pen_takeover_qpos']",
+                      "control_part": "left_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['left_arm_pen_takeover_qpos']",
+                          "control_part": "left_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['left_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "left_arm_pen_place_pose_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "right_arm_pen_grasp_pose",
+                "dst_key": "left_arm_pen_place_pose",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": "env.affordance_datas['pen_pose'].tolist()",
+                          "mode": "extrinsic",
+                          "inverse": true
+                        }
+                      },
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": "env.affordance_datas['right_arm_pen_handover_pose'].tolist()",
+                          "mode": "intrinsic",
+                          "inverse": true
+                        }
+                      },
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": "env.affordance_datas['left_arm_pen_takeover_pose'].tolist()",
+                          "mode": "intrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_frame_changed_pose",
+                        "kwargs": {
+                          "frame_change_matrix": [
+                            [
+                              1.110223024625157e-16,
+                              -0.8660254037844386,
+                              -0.5000000000000002,
+                              -6.391399453098233e-05
+                            ],
+                            [
+                              1.9229626863835638e-16,
+                              0.5000000000000002,
+                              -0.8660254037844386,
+                              3.6903975027224346e-05
+                            ],
+                            [
+                              1.0,
+                              0.0,
+                              2.220446049250313e-16,
+                              0.07138961
+                            ],
+                            [
+                              0.0,
+                              0.0,
+                              0.0,
+                              1.0
+                            ]
+                          ],
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['holder_pose'][0,3] + (env.affordance_datas['holder_pose'][:3,:3] @ [0.0, 0.017015365000000005, 0.0])[0]",
+                          "direction": "x",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['holder_pose'][1,3] + (env.affordance_datas['holder_pose'][:3,:3] @ [0.0, 0.017015365000000005, 0.0])[1]",
+                          "direction": "y",
+                          "mode": "extrinsic"
+                        }
+                      },
+                      {
+                        "name": "get_offset_pose",
+                        "kwargs": {
+                          "offset_value": "env.affordance_datas['holder_pose'][2,3] + (env.affordance_datas['holder_pose'][:3,:3] @ [0.0, 0.017015365000000005, 0.0])[2]",
+                          "direction": "z",
+                          "mode": "extrinsic"
+                        }
+                      }
+                    ]
+                  }
+                ]
+              },
+              {
+                "src_key": "left_arm_pen_place_pose",
+                "dst_key": "left_arm_pen_place_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "get_ik_ret",
+                    "kwargs": {
+                      "ik_func": "env.robot.compute_ik",
+                      "qpos_seed": "env.affordance_datas['left_arm_pen_move_qpos']",
+                      "control_part": "left_arm"
+                    },
+                    "pass_processes": [
+                      {
+                        "name": "get_ik_qpos",
+                        "kwargs": {
+                          "ik_func": "env.robot.compute_ik",
+                          "qpos_seed": "env.affordance_datas['left_arm_pen_move_qpos']",
+                          "control_part": "left_arm"
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['left_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      },
+      {
+        "left_arm_pen_up_qpos": {
+          "name": "generate_affordances_from_src",
+          "kwargs": {
+            "affordance_infos": [
+              {
+                "src_key": "left_arm_pen_place_qpos",
+                "dst_key": "left_arm_pen_up_qpos",
+                "valid_funcs_name_kwargs_proc": [
+                  {
+                    "name": "no_validation",
+                    "kwargs": {},
+                    "pass_processes": [
+                      {
+                        "name": "get_offset_qpos",
+                        "kwargs": {
+                          "offset_value": [
+                            5
+                          ],
+                          "joint_list_offset": [
+                            0
+                          ],
+                          "degrees": true
+                        }
+                      }
+                    ]
+                  },
+                  {
+                    "name": "is_qpos_exceed",
+                    "kwargs": {
+                      "robot": "env.robot",
+                      "control_part": "left_arm"
+                    }
+                  },
+                  {
+                    "name": "is_qpos_flip",
+                    "kwargs": {
+                      "qpos_ref": "env.affordance_datas['left_arm_init_qpos']",
+                      "qpos_ids": [
+                        3,
+                        4
+                      ],
+                      "threshold": 3.455751918948773,
+                      "mode": "delta",
+                      "return_inverse": true
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      }
+    ],
+    "left_eef": [
+      {
+        "left_open0": {
+          "name": "execute_close",
+          "kwargs": {}
+        }
+      },
+      {
+        "left_close": {
+          "name": "execute_close",
+          "kwargs": {}
+        }
+      },
+      {
+        "left_open1": {
+          "name": "execute_open",
+          "kwargs": {}
+        }
+      }
+    ],
+    "right_eef": [
+      {
+        "right_init": {
+          "name": "execute_close",
+          "kwargs": {}
+        }
+      },
+      {
+        "right_open0": {
+          "name": "execute_open",
+          "kwargs": {}
+        }
+      },
+      {
+        "right_close": {
+          "name": "execute_close",
+          "kwargs": {}
+        }
+      },
+      {
+        "right_open1": {
+          "name": "execute_open",
+          "kwargs": {}
+        }
+      }
+    ]
+  },
+  "edge": {
+    "right_arm": [
+      {
+        "right_init_to_pre1": {
+          "src": "right_arm_init_qpos",
+          "sink": "right_arm_pen_pre1_qpos",
+          "duration": 35,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "right_arm",
+            "keypose_names": [
+              "right_arm_init_qpos",
+              "right_arm_pen_pre1_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "right_pre1_to_grasp": {
+          "src": "right_arm_pen_pre1_qpos",
+          "sink": "right_arm_pen_grasp_qpos",
+          "duration": 24,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "right_arm",
+            "keypose_names": [
+              "right_arm_pen_pre1_qpos",
+              "right_arm_pen_grasp_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "right_grasp_to_up": {
+          "src": "right_arm_pen_grasp_qpos",
+          "sink": "right_arm_pen_up_qpos",
+          "duration": 24,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "right_arm",
+            "keypose_names": [
+              "right_arm_pen_grasp_qpos",
+              "right_arm_pen_up_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "right_up_to_handover": {
+          "src": "right_arm_pen_up_qpos",
+          "sink": "right_arm_pen_handover_qpos",
+          "duration": 35,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "right_arm",
+            "keypose_names": [
+              "right_arm_pen_up_qpos",
+              "right_arm_pen_handover_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "right_handover_to_back": {
+          "src": "right_arm_pen_handover_qpos",
+          "sink": "right_arm_pen_back_qpos",
+          "duration": 20,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "right_arm",
+            "keypose_names": [
+              "right_arm_pen_handover_qpos",
+              "right_arm_pen_back_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "holder_settle_right": {
+          "src": "right_arm_pen_back_qpos",
+          "sink": "right_arm_pen_back_qpos",
+          "duration": 35,
+          "name": "stand_still",
+          "kwargs": {
+            "agent_uid": "right_arm",
+            "keypose_names": [
+              "right_arm_pen_back_qpos",
+              "right_arm_pen_back_qpos"
+            ]
+          }
+        }
+      }
+    ],
+    "left_arm": [
+      {
+        "left_init_to_pre1": {
+          "src": "left_arm_init_qpos",
+          "sink": "pen_pre1_takeover_pose_qpos",
+          "duration": 24,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "left_arm",
+            "keypose_names": [
+              "left_arm_init_qpos",
+              "left_arm_pen_pre1_takeover_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "left_pre1_to_takeover": {
+          "src": "pen_pre1_takeover_pose_qpos",
+          "sink": "left_arm_pen_takeover_qpos",
+          "duration": 30,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "left_arm",
+            "keypose_names": [
+              "left_arm_pen_pre1_takeover_qpos",
+              "left_arm_pen_takeover_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "left_takeover_to_move": {
+          "src": "left_arm_pen_takeover_qpos",
+          "sink": "left_arm_pen_move_pose_qpos",
+          "duration": 100,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "left_arm",
+            "keypose_names": [
+              "left_arm_pen_takeover_qpos",
+              "left_arm_pen_move_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "left_move_to_place": {
+          "src": "left_arm_pen_move_pose_qpos",
+          "sink": "left_arm_pen_place_pose_qpos",
+          "duration": 20,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "left_arm",
+            "keypose_names": [
+              "left_arm_pen_move_qpos",
+              "left_arm_pen_place_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "left_place_to_up": {
+          "src": "left_arm_pen_place_pose_qpos",
+          "sink": "left_arm_pen_up_qpos",
+          "duration": 25,
+          "name": "plan_trajectory",
+          "kwargs": {
+            "agent_uid": "left_arm",
+            "keypose_names": [
+              "left_arm_pen_place_qpos",
+              "left_arm_pen_up_qpos"
+            ]
+          }
+        }
+      },
+      {
+        "holder_settle_left": {
+          "src": "left_arm_pen_up_qpos",
+          "sink": "left_arm_pen_up_qpos",
+          "duration": 35,
+          "name": "stand_still",
+          "kwargs": {
+            "agent_uid": "left_arm",
+            "keypose_names": [
+              "left_arm_pen_up_qpos",
+              "left_arm_pen_up_qpos"
+            ]
+          }
+        }
+      }
+    ],
+    "right_eef": [
+      {
+        "right_open0": {
+          "src": "right_init",
+          "sink": "right_open0",
+          "duration": 15,
+          "name": "execute_open",
+          "kwargs": {
+            "return_action": true,
+            "expand": true
+          }
+        }
+      },
+      {
+        "right_close0": {
+          "src": "right_open0",
+          "sink": "right_close",
+          "duration": 15,
+          "name": "execute_close",
+          "kwargs": {
+            "return_action": true,
+            "expand": true
+          }
+        }
+      },
+      {
+        "right_open1": {
+          "src": "right_close",
+          "sink": "right_open1",
+          "duration": 10,
+          "name": "execute_open",
+          "kwargs": {
+            "return_action": true,
+            "expand": true
+          }
+        }
+      }
+    ],
+    "left_eef": [
+      {
+        "left_open0": {
+          "src": "left_init",
+          "sink": "left_open0",
+          "duration": 15,
+          "name": "execute_open",
+          "kwargs": {
+            "return_action": true,
+            "expand": true
+          }
+        }
+      },
+      {
+        "left_close0": {
+          "src": "left_open0",
+          "sink": "left_close",
+          "duration": 15,
+          "name": "execute_close",
+          "kwargs": {
+            "return_action": true,
+            "expand": true
+          }
+        }
+      },
+      {
+        "left_open1": {
+          "src": "left_close",
+          "sink": "left_open1",
+          "duration": 10,
+          "name": "execute_open",
+          "kwargs": {
+            "return_action": true,
+            "expand": true
+          }
+        }
+      }
+    ]
+  },
+  "sync": {
+    "right_init_to_pre1": {
+      "depend_tasks": [
+        "right_open0"
+      ]
+    },
+    "right_close0": {
+      "depend_tasks": [
+        "right_pre1_to_grasp"
+      ]
+    },
+    "right_grasp_to_up": {
+      "depend_tasks": [
+        "right_close0"
+      ]
+    },
+    "right_open1": {
+      "depend_tasks": [
+        "left_close0"
+      ]
+    },
+    "right_handover_to_back": {
+      "depend_tasks": [
+        "right_open1"
+      ]
+    },
+    "left_init_to_pre1": {
+      "depend_tasks": [
+        "right_up_to_handover"
+      ]
+    },
+    "left_close0": {
+      "depend_tasks": [
+        "right_up_to_handover",
+        "left_pre1_to_takeover"
+      ]
+    },
+    "left_takeover_to_move": {
+      "depend_tasks": [
+        "left_close0",
+        "right_open1",
+        "right_handover_to_back"
+      ]
+    },
+    "left_open1": {
+      "depend_tasks": [
+        "left_move_to_place"
+      ]
+    },
+    "left_place_to_up": {
+      "depend_tasks": [
+        "left_open1"
+      ]
+    },
+    "holder_settle_left": {
+      "depend_tasks": [
+        "left_place_to_up",
+        "left_open1",
+        "right_handover_to_back",
+        "right_open1"
+      ]
+    },
+    "holder_settle_right": {
+      "depend_tasks": [
+        "left_place_to_up",
+        "left_open1",
+        "right_handover_to_back",
+        "right_open1"
+      ]
+    }
+  },
+  "misc": {
+    "vis_graph": false,
+    "vis_gantt": false,
+    "warpping": true
+  }
+}

items_handover_aug_r001/provenance/source_release/episodes.jsonl

@@ -0,0 +1,5 @@
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+{"episode_id": "items_handover_00002432", "fps": 25, "frames": 437, "initial_scene_file_sha256": "314b53e04a711bb74a0c9be48e8e4eb94e27f5b1b50d64755a3ab78dcec4019b", "initial_scene_sha256": "0f74bb23ee9931bf12e0ddad3edd4629617c4640488ca6ff3f823520784e8d7e", "layout_stratum": 0, "native_episode_index": 1, "object_variant_map": {"distractor_0": {"body_scale": [1.0, 1.0, 1.0], "category": "beaker", "object_id": "beaker_official_001", "source_mesh": "/home/graphvix/projects/RoboSynChallenge/assets/Beaker/beaker.ply", "source_sha256": "37db39ab6c358617e3d8699306208f8ac9dc4aee96ef91295253f311f0413009", "variant_id": "beaker_official_001_v002"}, "distractor_1": {"body_scale": [1.0, 1.0, 1.0], "category": "beaker", "object_id": "beaker_official_001", "source_mesh": "/home/graphvix/projects/RoboSynChallenge/assets/Beaker/beaker.ply", "source_sha256": "37db39ab6c358617e3d8699306208f8ac9dc4aee96ef91295253f311f0413009", "variant_id": "beaker_official_001_v002"}, "holder": {"body_scale": [0.56, 0.45, 0.56], "category": "pen_holder", "object_id": "pen_holder_meshy_076", "source_mesh": "/home/graphvix/projects/RoboSynChallenge/web/runs/data_generation/task2000_v1/meshy/reference_pilot_001/holder_third_native_CPU_v1/mesh_local.obj", "source_sha256": "44104b955512b6f373fbab0208baf089a865cb379975ce809ec8243dec538cc5", "variant_id": "pen_holder_meshy_076_v000"}, "pen": {"body_scale": [1, 1.6, 1.6], "category": "pen", "object_id": "pen_official_001", "source_mesh": "/home/graphvix/projects/RoboSynChallenge/assets/Pen/the_pen.obj", "source_sha256": "7789d1b8525c7e8de978b33962f6e732d2fbcc9350fd652a433ec833cf203bcb", "variant_id": "pen_official_001_v000"}}, "official_success": true, "physical_trace_sha256": "9a6acf4bf860cb1a03382a9094b446536547a9673e7d0b987b4bdc61ebe3f4ed", "recipe_profile_id": "items_handover_profile_e7037c1630f84491", "scene_profile_id": "49fabf9ded00973ac17b01c0", "seed": 70075432, "shard_id": "items_handover_shard_000508", "state_action_sha256": "e64f24af11796d29fcdd4ad20dd7e356779e23051dcfaccc95156be3e1486a74", "strict_quality": {"checks": {"complete_initial_and_scene_evidence": true, "inserted_section_inside_cavity": true, "object_released_last_20": true, "pen_holder_contact_last_20": true, "pen_moved": true, "pen_stable": true, "pen_tip_in_calibrated_holder_cavity": true, "physical_handover_contacts": true, "required_insertion_depth": true}, "passed": true, "quality_policy": "task2000_v1"}, "task": "items_handover"}
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items_handover_aug_r001/provenance/source_release/gym_config.json

@@ -0,0 +1,1069 @@
+{
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+  "max_episode_steps": 500,
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+            30.0
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+        "params": {
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+        "params": {
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+            "control_parts": [
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+              "right_arm"
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+            "link_names": [
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+      "random_pen_pose": {
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+        "params": {
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+              "mode": "callable",
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+              "func_name": "get_link_pose",
+              "func_kwargs": {
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+                "to_matrix": true
+              }
+            },
+            {
+              "name": "right_arm_base_pose",
+              "mode": "callable",
+              "entity_cfg": {
+                "uid": "CobotMagic"
+              },
+              "func_name": "get_link_pose",
+              "func_kwargs": {
+                "link_name": "right_arm_base",
+                "to_matrix": true
+              }
+            },
+            {
+              "name": "left_arm_takeover_grasp_offset",
+              "mode": "static",
+              "entity_cfg": {
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+              "value": 0.02
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+            {
+              "name": "opposite_pen_grasp_offset",
+              "mode": "static",
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+          ]
+        }
+      },
+      "register_info_to_env": {
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+        "mode": "reset",
+        "params": {
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+              "attrs": [
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+                "opposite_pen_grasp_offset"
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+                "compute_pose_object_to_arena": true,
+                "to_matrix": true
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+            },
+            {
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+                "compute_pose_object_to_arena": true,
+                "to_matrix": true
+              }
+            },
+            {
+              "entity_cfg": {
+                "uid": "CobotMagic",
+                "control_parts": [
+                  "left_arm"
+                ]
+              },
+              "attrs": [
+                "left_arm_base_pose"
+              ],
+              "pose_register_params": {
+                "compute_relative": "pen",
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+                "to_matrix": true
+              },
+              "prefix": false
+            },
+            {
+              "entity_cfg": {
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+                "control_parts": [
+                  "right_arm"
+                ]
+              },
+              "attrs": [
+                "right_arm_base_pose"
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+              "pose_register_params": {
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+          "registration": "affordance_datas",
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+        "mode": "modify",
+        "name": "robot/qpos",
+        "params": {
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+            13
+          ]
+        }
+      },
+      "pen_pose": {
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+        "mode": "add",
+        "name": "pen_pose",
+        "params": {
+          "entity_cfg": {
+            "uid": "pen"
+          }
+        }
+      },
+      "holder_pose": {
+        "func": "get_rigid_object_pose",
+        "mode": "add",
+        "name": "holder_pose",
+        "params": {
+          "entity_cfg": {
+            "uid": "holder"
+          }
+        }
+      }
+    },
+    "dataset": {
+      "lerobot": {
+        "func": "LeRobotRecorder",
+        "mode": "save",
+        "params": {
+          "save_path": "/home/graphvix/projects/RoboSynChallenge/web/runs/data_generation/task2000_v1/shards/items_handover_shard_000508/result/dataset",
+          "robot_meta": {
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+            "control_freq": 25,
+            "control_parts": [
+              "left_arm",
+              "left_eef",
+              "right_arm",
+              "right_eef"
+            ]
+          },
+          "instruction": {
+            "lang": "Pick up the pen, hand it over to the other arm and then place it in to the pen holder"
+          },
+          "extra": {
+            "scene_type": "Sim",
+            "task_description": "items_handover",
+            "data_type": "sim",
+            "virtual_asset_id": "mh076nativev1_task2000qa_075ad511b630",
+            "canonical_task_id": "items_handover",
+            "scene_profile_id": "49fabf9ded00973ac17b01c0"
+          },
+          "use_videos": true,
+          "image_writer_threads": 4
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+    },
+    "control_parts": [
+      "left_arm",
+      "left_eef",
+      "right_arm",
+      "right_eef"
+    ]
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+    {
+      "sensor_type": "Camera",
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+    {
+      "sensor_type": "Camera",
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+    },
+    {
+      "sensor_type": "ContactSensor",
+      "uid": "task2000_pen_left_grasp_contact",
+      "rigid_uid_list": [
+        "pen"
+      ],
+      "articulation_cfg_list": [
+        {
+          "articulation_uid": "CobotMagic",
+          "link_name_list": [
+            "left_link7",
+            "left_link8"
+          ]
+        }
+      ],
+      "max_contacts_per_env": 64,
+      "filter_need_both_actor": true
+    },
+    {
+      "sensor_type": "ContactSensor",
+      "uid": "task2000_pen_right_grasp_contact",
+      "rigid_uid_list": [
+        "pen"
+      ],
+      "articulation_cfg_list": [
+        {
+          "articulation_uid": "CobotMagic",
+          "link_name_list": [
+            "right_link7",
+            "right_link8"
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+        }
+      ],
+      "max_contacts_per_env": 64,
+      "filter_need_both_actor": true
+    },
+    {
+      "sensor_type": "ContactSensor",
+      "uid": "task2000_pen_holder_contact",
+      "rigid_uid_list": [
+        "pen",
+        "holder"
+      ],
+      "max_contacts_per_env": 64,
+      "filter_need_both_actor": true
+    }
+  ],
+  "light": {
+    "direct": [
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+        "uid": "light_0",
+        "light_type": "point",
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+        "visual_material": {
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+        "visual_material": {
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+  "rigid_object": [
+    {
+      "uid": "holder",
+      "shape": {
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+        "fpath": "web/runs/data_generation/task2000_v1/meshy/reference_pilot_001/holder_third_native_CPU_v1/mesh_local.obj",
+        "compute_uv": true
+      },
+      "attrs": {
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+        "fpath": "assets/Pen/the_pen.obj",
+        "compute_uv": true,
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+    },
+    {
+      "uid": "distractor_0",
+      "shape": {
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+        "fpath": "assets/Beaker/beaker.ply",
+        "compute_uv": true
+      }
+    },
+    {
+      "uid": "distractor_1",
+      "shape": {
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+        "fpath": "assets/Beaker/beaker.ply",
+        "compute_uv": true
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+  ],
+  "num_envs": 1,
+  "device": "cuda:1",
+  "headless": true,
+  "renderer": "hybrid",
+  "gpu_id": 1,
+  "arena_space": 5.0
+}

items_handover_aug_r001/provenance/source_release/production_metadata.json

@@ -0,0 +1,299 @@
+{
+  "schema_version": "task2000.production.v1",
+  "quality_policy": "task2000_v1",
+  "task": "items_handover",
+  "shard_id": "items_handover_shard_000508",
+  "scene_profile_id": "49fabf9ded00973ac17b01c0",
+  "recipe_profile_id": "items_handover_profile_e7037c1630f84491",
+  "layout_stratum": "xy_00",
+  "object_variant_map": {
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+      "variant_id": "pen_holder_meshy_076_v000",
+      "source_mesh": "/home/graphvix/projects/RoboSynChallenge/web/runs/data_generation/task2000_v1/meshy/reference_pilot_001/holder_third_native_CPU_v1/mesh_local.obj",
+      "source_sha256": "44104b955512b6f373fbab0208baf089a865cb379975ce809ec8243dec538cc5",
+      "body_scale": [
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+        0.56
+      ],
+      "category": "pen_holder"
+    },
+    "pen": {
+      "object_id": "pen_official_001",
+      "variant_id": "pen_official_001_v000",
+      "source_mesh": "/home/graphvix/projects/RoboSynChallenge/assets/Pen/the_pen.obj",
+      "source_sha256": "7789d1b8525c7e8de978b33962f6e732d2fbcc9350fd652a433ec833cf203bcb",
+      "body_scale": [
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+        1.6,
+        1.6
+      ],
+      "category": "pen"
+    },
+    "distractor_0": {
+      "object_id": "beaker_official_001",
+      "variant_id": "beaker_official_001_v002",
+      "source_mesh": "/home/graphvix/projects/RoboSynChallenge/assets/Beaker/beaker.ply",
+      "source_sha256": "37db39ab6c358617e3d8699306208f8ac9dc4aee96ef91295253f311f0413009",
+      "body_scale": [
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+    },
+    "distractor_1": {
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+      "variant_id": "beaker_official_001_v002",
+      "source_mesh": "/home/graphvix/projects/RoboSynChallenge/assets/Beaker/beaker.ply",
+      "source_sha256": "37db39ab6c358617e3d8699306208f8ac9dc4aee96ef91295253f311f0413009",
+      "body_scale": [
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+  "source_hashes": {
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+    "/home/graphvix/projects/RoboSynChallenge/scripts/data_generation/analyze_meshy_holder_reach.py": "c9419e6b3f6f52b0c595bf92f6160d20cd6672d5da5e98e66d1a33b811b2a981",
+    "/home/graphvix/projects/RoboSynChallenge/scripts/data_generation/prepare_meshy_holder_reachable.py": "21df0f55e231eb607b58683276fe7f161cf557edc2049f973f3905f1704bad28",
+    "/home/graphvix/.cache/embodichain_data/extract/CobotMagicArm/CobotMagicWithGripperV100.urdf": "949ab740cb9ba7db02ab9043609fc14349944e94d785ad9a923beeedb1c018ae",
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+}

items_handover_aug_r001/provenance/source_release/profile.json

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items_handover_aug_r001/provenance/source_release/release_validation.json

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items_handover_aug_r001/provenance/source_release/source_READY

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items_handover_aug_r001/provenance/source_release/source_receipt.json

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items_handover_aug_r001/provenance/source_release/source_validation.json

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items_handover_aug_r001/provenance/source_release_manifest.json

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items_handover_aug_r001/provenance/source_validation.json

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