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objects/phone/releases/phone20-stage12-v1/episodes/phone_13/contracts/goal_contract_derivation_receipt.json

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+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_13/contracts/goal_region_contract.json

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+  "task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
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+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_13/qa/continuity_jointlimit_report.json

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+{
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+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_13/qa/materialization_receipt.json

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+{
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objects/phone/releases/phone20-stage12-v1/episodes/phone_13/qa/nonpenetration_report.json

@@ -0,0 +1,330 @@
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objects/phone/releases/phone20-stage12-v1/episodes/phone_13/qa/path_audit.json

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+{
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+  "symlink_count": 0
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_13/qa/stage2_validation.json

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objects/phone/releases/phone20-stage12-v1/episodes/phone_13/stage1/stage1.manifest.json

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objects/phone/releases/phone20-stage12-v1/episodes/phone_13/stage2/human_demo_60hz.h5

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objects/phone/releases/phone20-stage12-v1/episodes/phone_13/stage2/reference_manifest.json

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+    "human_wrist": "xyzw",
+    "retargeted_object": "wxyz",
+    "retargeted_robot": "wxyz"
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+  "robot": {
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+      "right_thumb_MCP_AA",
+      "right_thumb_IP",
+      "right_index_MCP_FE",
+      "right_index_MCP_AA",
+      "right_index_PIP",
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+      "right_middle_MCP_FE",
+      "right_middle_MCP_AA",
+      "right_middle_PIP",
+      "right_middle_DIP",
+      "right_ring_MCP_FE",
+      "right_ring_MCP_AA",
+      "right_ring_PIP",
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+      "right_pinky_MCP_FE",
+      "right_pinky_MCP_AA",
+      "right_pinky_PIP",
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+      "right_thumb_MC",
+      "right_thumb_PP",
+      "right_thumb_DP",
+      "right_thumb_fingertip",
+      "right_index_PP",
+      "right_index_MP",
+      "right_index_DP",
+      "right_index_fingertip",
+      "right_middle_PP",
+      "right_middle_MP",
+      "right_middle_DP",
+      "right_middle_fingertip",
+      "right_ring_PP",
+      "right_ring_MP",
+      "right_ring_DP",
+      "right_ring_fingertip",
+      "right_pinky_PP",
+      "right_pinky_MP",
+      "right_pinky_DP",
+      "right_pinky_fingertip"
+    ],
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+      10,
+      11,
+      12,
+      19,
+      7,
+      8,
+      9,
+      20
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+  },
+  "schema": "reorientation_sharpa_wuji2_reference_manifest_v1",
+  "source_dt_s": 0.016666666666666666,
+  "source_hz": 60.0,
+  "sources": {
+    "human_h5": {
+      "path": "human_demo_60hz.h5",
+      "sha256": "a25594967104538c276476763a93e57f574f072c3bd99eda74af26d8eb82718c"
+    },
+    "moving28_h5": {
+      "path": "retargeted_moving28_60fps.h5",
+      "sha256": "bc37fbbd0ec9fde2ac44a943b8a21aedffc88f273a626c511e5a9fb1f9032aec"
+    },
+    "retarget_h5": {
+      "path": "canonical_retarget.h5",
+      "sha256": "6f8a6834718c9402158ac300ac837a7e72880e5d1b2d876d78512847058f6b7e"
+    },
+    "source_npz": {
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+      "sha256": "60907ac3168882ab4e0b9c9e2fd7cfbcea64e65b709bcc6e4b075a58c19ad600"
+    }
+  },
+  "units": "m"
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/contracts/goal_contract_derivation_receipt.json

@@ -0,0 +1,10 @@
+{
+  "changed_fields": [
+    "evaluation_reference_h5_sha256"
+  ],
+  "child_sha256": "e56d52dfeec1eefa341981543ce0f4b3a6dc25e1b01179f00bf12383aaf6e14d",
+  "evaluation_reference_h5_sha256": "60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3",
+  "parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
+  "schema": "reorientation_goal_contract_derivation_receipt_v1",
+  "semantic_equivalence": true
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/contracts/goal_region_contract.json

@@ -0,0 +1,334 @@
+{
+  "drop_detection": {
+    "detector": "wrist_object_distance_m",
+    "observability": "required_live_pose",
+    "threshold_m": 0.15
+  },
+  "evaluation_reference_h5_sha256": "60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3",
+  "goal_exemplars": [
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+      "stable_window_end_s": 13,
+      "stable_window_start_s": 12
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+    {
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+    {
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+    {
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+    {
+      "id": "phone_06",
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+      "stable_window_end_s": 15.3,
+      "stable_window_start_s": 14.3
+    },
+    {
+      "id": "phone_07",
+      "phone_in_wrist_pose_wxyz": [
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+        0.024560718960261057,
+        0.10173800934146968,
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+      "stable_window_end_s": 12,
+      "stable_window_start_s": 11
+    },
+    {
+      "id": "phone_08",
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+    {
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+      "stable_window_start_s": 16.1
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+    {
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+    },
+    {
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+      "stable_window_start_s": 13.01667
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+    {
+      "id": "phone_14",
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+    {
+      "id": "phone_15",
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+      "stable_window_end_s": 12.25,
+      "stable_window_start_s": 11.25
+    },
+    {
+      "id": "phone_16",
+      "phone_in_wrist_pose_wxyz": [
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+    {
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+      "stable_window_end_s": 13.16667,
+      "stable_window_start_s": 12.16667
+    },
+    {
+      "id": "phone_18",
+      "phone_in_wrist_pose_wxyz": [
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+        0.02922544020900463,
+        0.10997688428279144,
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+    },
+    {
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+      "stable_window_end_s": 15,
+      "stable_window_start_s": 14
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+    {
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+  "hold_duration_s": 0.5,
+  "schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
+  "task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
+  "thresholds": {
+    "goal_orientation_deg": 3,
+    "goal_position_m": 0.003,
+    "hold_rotation_slip_deg": 5,
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+    "penetration_tolerance_m": 0.001
+  },
+  "vlm_judge": {
+    "enabled": false,
+    "mode": "advisory"
+  },
+  "workspace_lower_m": [
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+    -0.25,
+    -0.25
+  ],
+  "workspace_upper_m": [
+    0.25,
+    0.25,
+    0.25
+  ]
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/qa/continuity_jointlimit_report.json

@@ -0,0 +1,19 @@
+{
+  "checks": {
+    "continuity_preserved": true,
+    "finite": true,
+    "joint_limits": true,
+    "joint_names_order": true,
+    "pip_dip_coupling": true,
+    "quaternion_unit": true,
+    "repair_submillimeter": true,
+    "timestamps_60hz_strict": true
+  },
+  "gate": "CONTINUITY_JOINTLIMIT_PASS",
+  "max_joint_step_rad": 0.06060060050405264,
+  "max_root_repair_delta_m": 5.690716972918021e-05,
+  "max_root_rotation_step_rad": 0.03099581527571068,
+  "max_root_translation_step_child_m": 0.0023013789875860474,
+  "max_root_translation_step_parent_m": 0.0023013789875860474,
+  "schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/qa/materialization_receipt.json

@@ -0,0 +1,209 @@
+{
+  "allowed_changes": [
+    "robot_pos",
+    "robot_quat",
+    "robot_keypoints"
+  ],
+  "child_sha256": {
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+    "moving28_h5": "60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3"
+  },
+  "gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
+  "immutable_dataset_fingerprints_after": {
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+    "object_quat": "7ef5359b62d24d5066c375d93765092f4f016d09e8da5cdec49753932a9e9d67",
+    "phase": "b3503a1c321e8d002a04946fd147bc5cc067bd4aca78554108c881e27809754c",
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+    "timestamps_s": "be1f73e75436a350aac97da0c1f6df273b6ea4fea4a0242ca7a7655c0660266b"
+  },
+  "immutable_dataset_fingerprints_before": {
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+    "object_quat": "7ef5359b62d24d5066c375d93765092f4f016d09e8da5cdec49753932a9e9d67",
+    "phase": "b3503a1c321e8d002a04946fd147bc5cc067bd4aca78554108c881e27809754c",
+    "robot_joints": "32efdbd3bbcbc7d4cb5408f8642baee4ead6b100bc460b7c0a2f24230bfe4d33",
+    "timestamps_s": "be1f73e75436a350aac97da0c1f6df273b6ea4fea4a0242ca7a7655c0660266b"
+  },
+  "parent_sha256": {
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+    "numerical_epsilon_m": 2e-06,
+    "repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
+    "schema": "reorientation_sharpa_final_trajectory_penetration_v1",
+    "steps": [
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+        "geometry_names": [
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+          "phone::Mesh_1"
+        ],
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+          3.593852264884163e-05,
+          -1.9475328269142814e-05
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+      {
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+          4.738079935205438e-06,
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+      },
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+        "geometry_names": [
+          "right_sharpa_wave::Mesh",
+          "phone::Mesh_1"
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+          1.3514016076768026e-05,
+          -3.524335194687473e-06
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+      }
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+    "tolerance_m": 0.001,
+    "violating_frame_count": 0,
+    "violating_frames": [],
+    "worst_depth": {
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+      "geometry_names": [
+        "right_sharpa_wave::Mesh",
+        "phone::Mesh_1"
+      ]
+    },
+    "worst_violation_pairs": []
+  },
+  "schema": "sharpa_t0147_aligned_stage2_materialization_receipt_v1",
+  "unchanged_datasets": {
+    "mano_joint_coords": true,
+    "object_pos": true,
+    "object_quat": true,
+    "phase": true,
+    "robot_joints": true,
+    "timestamps_s": true
+  }
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/qa/nonpenetration_report.json

@@ -0,0 +1,168 @@
+{
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+  "gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
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+  "max_translation_delta_m": 5.690716972918021e-05,
+  "max_violation_m": 1.8483828075797296e-06,
+  "numerical_epsilon_m": 2e-06,
+  "repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
+  "schema": "reorientation_sharpa_final_trajectory_penetration_v1",
+  "steps": [
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+      "geometry_names": [
+        "right_sharpa_wave::Mesh",
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+        4.5571304201691e-06,
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+    {
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+    }
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+  "violating_frame_count": 0,
+  "violating_frames": [],
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+    "geometry_names": [
+      "right_sharpa_wave::Mesh",
+      "phone::Mesh_1"
+    ]
+  },
+  "worst_violation_pairs": []
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/qa/path_audit.json

@@ -0,0 +1,17 @@
+{
+  "episode_id": "phone_14",
+  "gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
+  "historical_absolute_provenance_ignored": true,
+  "resolved_artifacts": {
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+    "human_demo_60hz_h5": "phone_14/stage2/human_demo_60hz.h5",
+    "moving28_h5": "phone_14/stage2/retargeted_moving28_60fps.h5",
+    "reference_manifest": "phone_14/stage2/reference_manifest.json",
+    "review_video": "phone_14/qa/stage1_stage2_2x3.mp4",
+    "stage1_manifest": "phone_14/inputs/stage1.manifest.json",
+    "stage1_npz": "phone_14/inputs/stage1.npz",
+    "validation_receipt": "phone_14/qa/stage2_validation.json"
+  },
+  "schema": "sharpa_stage2_release_clone_local_path_audit_v1",
+  "symlink_count": 0
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/qa/stage2_validation.json

@@ -0,0 +1,251 @@
+{
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+        "phone::Mesh_1"
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+    "hard_nonpenetration": true,
+    "kinematic_only": true,
+    "pip_dip_coupling": true,
+    "recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
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+      "right_index_MCP_FE",
+      "right_index_MCP_AA",
+      "right_index_PIP",
+      "right_index_DIP",
+      "right_middle_MCP_FE",
+      "right_middle_MCP_AA",
+      "right_middle_PIP",
+      "right_middle_DIP",
+      "right_ring_MCP_FE",
+      "right_ring_MCP_AA",
+      "right_ring_PIP",
+      "right_ring_DIP",
+      "right_pinky_CMC",
+      "right_pinky_MCP_FE",
+      "right_pinky_MCP_AA",
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+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/stage1/stage1.manifest.json

@@ -0,0 +1,56 @@
+{
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+    "frame": 1,
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+    "physics_stable_grasp_verified": false
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+    "functional_success_verified": false,
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+    "path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/07_object_centric_human_demo/offset_retune_v5_20260811/phone_14_object_centric_v3_74437c7bce4c.npz",
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+  "object_name": "phone",
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+    "mano_is_skin_or_contact_ground_truth": false,
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+    "time_sync": false
+  },
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+    "world_hand_pose_from_objectMeshA_max_abs_error": 2.220446049250313e-15,
+    "world_hand_pose_from_objectMesh_max_abs_error": 3.3306690738754696e-15,
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+    "world_mano_vertices_float32_max_abs_error_m": 1.4901161193847656e-08,
+    "world_object_mesh_pose_max_abs_error": 2.3314683517128287e-15
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+  "recipe_version": "export_object_centric_human_demo_generic_v3",
+  "schema": "a2b_immutable_artifact_manifest_v1",
+  "sources": {
+    "corrected_artifact": {
+      "path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_14_corrected_world_v3_558c318950e1.npz",
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+      "sha256": "0865308a1dcffa66e706fc975ec4ef6e0792388500365ff7d4458b3ec56ddb89"
+    }
+  }
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/stage2/reference_manifest.json

@@ -0,0 +1,317 @@
+{
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+      "right_ring_PIP",
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+      "right_pinky_MCP_FE",
+      "right_pinky_MCP_AA",
+      "right_pinky_PIP",
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+      "right_pinky_PP",
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+      "right_pinky_DP",
+      "right_pinky_fingertip"
+    ],
+    "keypoint_source_indices": [
+      0,
+      13,
+      14,
+      15,
+      16,
+      1,
+      2,
+      3,
+      17,
+      4,
+      5,
+      6,
+      18,
+      10,
+      11,
+      12,
+      19,
+      7,
+      8,
+      9,
+      20
+    ]
+  },
+  "schema": "reorientation_sharpa_wuji2_reference_manifest_v1",
+  "source_dt_s": 0.016666666666666666,
+  "source_hz": 60.0,
+  "sources": {
+    "human_h5": {
+      "path": "human_demo_60hz.h5",
+      "sha256": "70c630916707dc64be6cd16fa8118f27047c2564e225c44affe49d62d258f67c"
+    },
+    "moving28_h5": {
+      "path": "retargeted_moving28_60fps.h5",
+      "sha256": "60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3"
+    },
+    "retarget_h5": {
+      "path": "canonical_retarget.h5",
+      "sha256": "c6e5677482903b7e99928b0059b15dc746f61e6ccb370fcb1459efd53f060098"
+    },
+    "source_npz": {
+      "path": "../inputs/stage1.npz",
+      "sha256": "23e3c361420a5bc791ba9985d0b4a9123d6035d1c4684aaf1e6cf1003b8e6137"
+    }
+  },
+  "units": "m"
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_14/stage2_handoff.json

@@ -0,0 +1,68 @@
+{
+  "artifacts": {
+    "canonical_retarget_h5": {
+      "relative_path": "stage2/canonical_retarget.h5",
+      "sha256": "c6e5677482903b7e99928b0059b15dc746f61e6ccb370fcb1459efd53f060098",
+      "size_bytes": 1014760
+    },
+    "human_demo_60hz_h5": {
+      "relative_path": "stage2/human_demo_60hz.h5",
+      "sha256": "70c630916707dc64be6cd16fa8118f27047c2564e225c44affe49d62d258f67c",
+      "size_bytes": 495560
+    },
+    "moving28_h5": {
+      "relative_path": "stage2/retargeted_moving28_60fps.h5",
+      "sha256": "60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3",
+      "size_bytes": 1019456
+    },
+    "reference_manifest": {
+      "relative_path": "stage2/reference_manifest.json",
+      "sha256": "844ebeb308da5f95ba9d4c349f3fd3ddc57cae538463deea119d977ed58cf770",
+      "size_bytes": 7684
+    },
+    "review_video": {
+      "relative_path": "qa/stage1_stage2_2x3.mp4",
+      "sha256": "c7cfc3e34614563c3078bafa8f08c6469b7f7f5b86c5d088bc0b3b117b2a57d2",
+      "size_bytes": 14904607
+    },
+    "stage1_manifest": {
+      "relative_path": "inputs/stage1.manifest.json",
+      "sha256": "0623efb0bcb332e95a2453e5fe51fa1b933469f04ea226f2b9db59c0b9a4743b",
+      "size_bytes": 2458
+    },
+    "stage1_npz": {
+      "relative_path": "inputs/stage1.npz",
+      "sha256": "23e3c361420a5bc791ba9985d0b4a9123d6035d1c4684aaf1e6cf1003b8e6137",
+      "size_bytes": 14908301
+    },
+    "validation_receipt": {
+      "relative_path": "qa/stage2_validation.json",
+      "sha256": "455c75167b0587f3d136058ce9f0c21b7daaf917b3a468bffc20b0ffab09d245",
+      "size_bytes": 7146
+    }
+  },
+  "dimensions": {
+    "action_dim": 28,
+    "finger_dof": 22,
+    "root_dof": 6
+  },
+  "episode_id": "phone_14",
+  "object_name": "phone",
+  "provenance": {
+    "git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
+    "git_dirty": false
+  },
+  "repair": {
+    "nonpenetration": "PASS",
+    "qa_status": "ACCEPTED",
+    "recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
+    "solver": "ClarabelSolver"
+  },
+  "schema": "reorientation_sharpa_stage2_handoff_v1",
+  "status": "STAGE2_HANDOFF_ACCEPTED",
+  "timeline": {
+    "frames": 761,
+    "policy_hz": 30.0,
+    "source_hz": 60.0
+  }
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/contracts/goal_contract_derivation_receipt.json

@@ -0,0 +1,10 @@
+{
+  "changed_fields": [
+    "evaluation_reference_h5_sha256"
+  ],
+  "child_sha256": "82911150eb8adc0058aad0108cd52c529bcf61f9a272b36edf723702cb8ee132",
+  "evaluation_reference_h5_sha256": "f1725cf2c4fbe9fe69f030742fe12b9943b3c5da79651a851b616d9bfc387596",
+  "parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
+  "schema": "reorientation_goal_contract_derivation_receipt_v1",
+  "semantic_equivalence": true
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/contracts/goal_region_contract.json

@@ -0,0 +1,334 @@
+{
+  "drop_detection": {
+    "detector": "wrist_object_distance_m",
+    "observability": "required_live_pose",
+    "threshold_m": 0.15
+  },
+  "evaluation_reference_h5_sha256": "f1725cf2c4fbe9fe69f030742fe12b9943b3c5da79651a851b616d9bfc387596",
+  "goal_exemplars": [
+    {
+      "id": "phone_01",
+      "phone_in_wrist_pose_wxyz": [
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+        0.031092940773731953,
+        0.10514462356554327,
+        0.18347857989940888,
+        0.7320197472069027,
+        0.24928085199129213,
+        0.6069116552248229
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+      "source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
+      "stable_window_end_s": 13,
+      "stable_window_start_s": 12
+    },
+    {
+      "id": "phone_02",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03183333037556811,
+        0.09926507128878602,
+        0.2258363963836322,
+        0.7176556957423054,
+        0.2100871076302479,
+        0.6243649827181528
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+      "source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
+      "stable_window_end_s": 10.58333,
+      "stable_window_start_s": 9.583333
+    },
+    {
+      "id": "phone_03",
+      "phone_in_wrist_pose_wxyz": [
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+        0.026394372547997282,
+        0.11310086642605308,
+        0.2989591556842424,
+        0.6785422292252308,
+        0.21132367040699318,
+        0.636825072305053
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+      "source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
+      "stable_window_end_s": 13.1,
+      "stable_window_start_s": 12.1
+    },
+    {
+      "id": "phone_04",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03591273429334814,
+        0.0978112235645566,
+        0.1053596921578995,
+        0.7137527196746393,
+        0.2787498454052086,
+        0.6338413950761033
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+      "source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
+      "stable_window_end_s": 11.58333,
+      "stable_window_start_s": 10.58333
+    },
+    {
+      "id": "phone_05",
+      "phone_in_wrist_pose_wxyz": [
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+        0.027437818730328627,
+        0.1121336988247133,
+        0.20876300782401547,
+        0.699793109556475,
+        0.2886988847626664,
+        0.6191611779806145
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+      "source_demo_sha256": "42e65d8367e2c5f8217272d569dddc3bdfd248d156e2d4657ea70a3fad093972",
+      "stable_window_end_s": 11.03333,
+      "stable_window_start_s": 10.03333
+    },
+    {
+      "id": "phone_06",
+      "phone_in_wrist_pose_wxyz": [
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+        0.016537700924066537,
+        0.09593237875619372,
+        0.21465128708083678,
+        0.7211224440987967,
+        0.16701969270383124,
+        0.6371904486263397
+      ],
+      "source_demo_sha256": "cae25992e1b683f669b97b29177e85bf35f124cd5a1907021ec9b192e69a1ea5",
+      "stable_window_end_s": 15.3,
+      "stable_window_start_s": 14.3
+    },
+    {
+      "id": "phone_07",
+      "phone_in_wrist_pose_wxyz": [
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+        0.024560718960261057,
+        0.10173800934146968,
+        0.09899271094178902,
+        0.7313834731601216,
+        0.2133683707309308,
+        0.6401192051018788
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+      "source_demo_sha256": "97867a2be220cd7fe674ff6cba05f7668abe34e20b31529d5b7a1b86b76ff404",
+      "stable_window_end_s": 12,
+      "stable_window_start_s": 11
+    },
+    {
+      "id": "phone_08",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03207178397464634,
+        0.10486853736373501,
+        0.20581252882660386,
+        0.6727610076442787,
+        0.18850911825210967,
+        0.6851993446488878
+      ],
+      "source_demo_sha256": "3bf1f2d27c22e80bdffbbdad54eb796b088b9c053639af8f656a608b062b25d0",
+      "stable_window_end_s": 21.63333,
+      "stable_window_start_s": 20.63333
+    },
+    {
+      "id": "phone_09",
+      "phone_in_wrist_pose_wxyz": [
+        0.04373213080851023,
+        0.028614182483931612,
+        0.1040820667122046,
+        0.1995570146144622,
+        0.7261811304200224,
+        0.19079360036143933,
+        0.6296314523601733
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+      "source_demo_sha256": "2b1c92155e1a9597d3b7ae1f6c1ea16583d01dd7e9aa438271ae173b39692d56",
+      "stable_window_end_s": 17.1,
+      "stable_window_start_s": 16.1
+    },
+    {
+      "id": "phone_10",
+      "phone_in_wrist_pose_wxyz": [
+        0.04458270292645563,
+        0.021469648631921696,
+        0.11897077138944565,
+        0.26702471909503733,
+        0.6545204839734203,
+        0.22363917324532462,
+        0.6710337216873409
+      ],
+      "source_demo_sha256": "f67e03bbeee152d2efb2626c108698e6b868a01b3263a7a5125f519909b4d821",
+      "stable_window_end_s": 17.08333,
+      "stable_window_start_s": 16.08333
+    },
+    {
+      "id": "phone_11",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03409945305163953,
+        0.10604223183630693,
+        0.15370305283319916,
+        0.6822541076887287,
+        0.24484738236221076,
+        0.6715314314624334
+      ],
+      "source_demo_sha256": "b7ad5f442d672bd3ec8bd3f0cc5b2ff72397d6dd11969c877cfb2d899f94ecb6",
+      "stable_window_end_s": 13.45,
+      "stable_window_start_s": 12.45
+    },
+    {
+      "id": "phone_12",
+      "phone_in_wrist_pose_wxyz": [
+        0.050752030929731316,
+        0.015857784041174636,
+        0.11045318645217328,
+        0.1971441126114889,
+        0.6546000013235423,
+        0.14761856090145065,
+        0.7147319760632175
+      ],
+      "source_demo_sha256": "6e2b213228245d49dd39ccb01b0960f56b77ae24eb4bcebfb607aff1075d19e7",
+      "stable_window_end_s": 17.216669999999997,
+      "stable_window_start_s": 16.21667
+    },
+    {
+      "id": "phone_13",
+      "phone_in_wrist_pose_wxyz": [
+        0.03940056156080337,
+        0.03192723583347951,
+        0.10859763655328636,
+        0.06580756307530401,
+        0.6855574481037557,
+        0.30287307662649743,
+        0.6587474853434782
+      ],
+      "source_demo_sha256": "aba431290d98dd244918b6b312c6751d5a7298dee961ba4491df549ffabb2087",
+      "stable_window_end_s": 14.01667,
+      "stable_window_start_s": 13.01667
+    },
+    {
+      "id": "phone_14",
+      "phone_in_wrist_pose_wxyz": [
+        0.03467295091584656,
+        0.024107126366273685,
+        0.1101136687098419,
+        0.13209380916840568,
+        0.7141369503981138,
+        0.2588473729080719,
+        0.6368341064940323
+      ],
+      "source_demo_sha256": "f989470228901399acf3a3e120f77d8f9ca4cb8d9a95c897cea77e5ac367f231",
+      "stable_window_end_s": 12.68333,
+      "stable_window_start_s": 11.68333
+    },
+    {
+      "id": "phone_15",
+      "phone_in_wrist_pose_wxyz": [
+        0.03965304042846837,
+        0.024211974898956927,
+        0.10488276129646243,
+        0.1843099175354055,
+        0.7104814000523673,
+        0.25556232245121796,
+        0.6292328136874777
+      ],
+      "source_demo_sha256": "bbadeadfb144dd5e8996844af97039ac3191bce7512e2263189cf133ec386de9",
+      "stable_window_end_s": 12.25,
+      "stable_window_start_s": 11.25
+    },
+    {
+      "id": "phone_16",
+      "phone_in_wrist_pose_wxyz": [
+        0.0423454766319286,
+        0.021211510709724435,
+        0.10783320331638926,
+        0.15191605967824007,
+        0.7069958486749522,
+        0.17541590787024777,
+        0.6680626018826965
+      ],
+      "source_demo_sha256": "67abc8519de4c37734f94879d79ac10b535d82db57e1d9e2a8f5d8dc82eda2b8",
+      "stable_window_end_s": 13.95,
+      "stable_window_start_s": 12.95
+    },
+    {
+      "id": "phone_17",
+      "phone_in_wrist_pose_wxyz": [
+        0.04438943936514513,
+        0.024921070169305316,
+        0.0958906981164899,
+        0.1253067875928184,
+        0.7348681356848489,
+        0.20903948059264638,
+        0.6329056230527578
+      ],
+      "source_demo_sha256": "abb09ae5b3b39eadf7ed0d25229aac119b2137d003c587dcd86de28d15423efc",
+      "stable_window_end_s": 13.16667,
+      "stable_window_start_s": 12.16667
+    },
+    {
+      "id": "phone_18",
+      "phone_in_wrist_pose_wxyz": [
+        0.04215868931246264,
+        0.02922544020900463,
+        0.10997688428279144,
+        0.2644560664904675,
+        0.675484271916621,
+        0.16748194371875239,
+        0.667632972386663
+      ],
+      "source_demo_sha256": "ec46ad139b52c664ef4c7ca4c35485bf539ddb4c080547b0bbc617189989db1f",
+      "stable_window_end_s": 16.01667,
+      "stable_window_start_s": 15.01667
+    },
+    {
+      "id": "phone_19",
+      "phone_in_wrist_pose_wxyz": [
+        0.0500052742803781,
+        0.029015203792821576,
+        0.09406593838613851,
+        0.1294320930642176,
+        0.7166413676175086,
+        0.19312812566391516,
+        0.6575515269405626
+      ],
+      "source_demo_sha256": "33a9c959d2301f7414112b9d8512ff709a1beac7a5f0d662969c71ef92cb53e2",
+      "stable_window_end_s": 15,
+      "stable_window_start_s": 14
+    },
+    {
+      "id": "phone_20",
+      "phone_in_wrist_pose_wxyz": [
+        0.04638415913847929,
+        0.02245202101954502,
+        0.09215099516581593,
+        0.11991907663143349,
+        0.7368239695297542,
+        0.16676188570734887,
+        0.6441275700213502
+      ],
+      "source_demo_sha256": "4aed9c16db87f146ab8905ee7138ec414db728577856ddf757023152413e336b",
+      "stable_window_end_s": 14.18333,
+      "stable_window_start_s": 13.18333
+    }
+  ],
+  "hold_duration_s": 0.5,
+  "schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
+  "task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
+  "thresholds": {
+    "goal_orientation_deg": 3,
+    "goal_position_m": 0.003,
+    "hold_rotation_slip_deg": 5,
+    "hold_translation_slip_m": 0.005,
+    "penetration_tolerance_m": 0.001
+  },
+  "vlm_judge": {
+    "enabled": false,
+    "mode": "advisory"
+  },
+  "workspace_lower_m": [
+    -0.25,
+    -0.25,
+    -0.25
+  ],
+  "workspace_upper_m": [
+    0.25,
+    0.25,
+    0.25
+  ]
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/qa/continuity_jointlimit_report.json

@@ -0,0 +1,19 @@
+{
+  "checks": {
+    "continuity_preserved": true,
+    "finite": true,
+    "joint_limits": true,
+    "joint_names_order": true,
+    "pip_dip_coupling": true,
+    "quaternion_unit": true,
+    "repair_submillimeter": true,
+    "timestamps_60hz_strict": true
+  },
+  "gate": "CONTINUITY_JOINTLIMIT_PASS",
+  "max_joint_step_rad": 0.06442296216288573,
+  "max_root_repair_delta_m": 0.0,
+  "max_root_rotation_step_rad": 0.026131481246376456,
+  "max_root_translation_step_child_m": 0.002595742650154719,
+  "max_root_translation_step_parent_m": 0.002595742650154719,
+  "schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/qa/materialization_receipt.json

@@ -0,0 +1,67 @@
+{
+  "allowed_changes": [
+    "robot_pos",
+    "robot_quat",
+    "robot_keypoints"
+  ],
+  "child_sha256": {
+    "canonical_retarget_h5": "9334126d0fa69cbbe963eef9129e9ae86c5c4470b79b374ece59575202a94925",
+    "moving28_h5": "f1725cf2c4fbe9fe69f030742fe12b9943b3c5da79651a851b616d9bfc387596"
+  },
+  "gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
+  "immutable_dataset_fingerprints_after": {
+    "mano_joint_coords": "825e631baa3985053c4b6e5eb5a3ad4ce08092e47a1e21599d29ae569995bf4a",
+    "object_pos": "f897eba39e1ebcd9641403a0331eecc88ff5279254bb3cdbfde7e883a1da6995",
+    "object_quat": "b4f4a53044c1c9123c48284f42873aaf09c86780bbed368ee2b86b7092af93f6",
+    "phase": "c1f0afd9fca91a608f295e2e21f37f6c1cc0b6b5d5fd89e1537d870b79cd251d",
+    "robot_joints": "9481530030403dad065e12f33a595e21821b3b74a28eaabed272c3f946a0ebe0",
+    "timestamps_s": "e7daa582c6bbbdfbf17f052d6c78d9d9b09feed059e6cde4c7933416f4216443"
+  },
+  "immutable_dataset_fingerprints_before": {
+    "mano_joint_coords": "825e631baa3985053c4b6e5eb5a3ad4ce08092e47a1e21599d29ae569995bf4a",
+    "object_pos": "f897eba39e1ebcd9641403a0331eecc88ff5279254bb3cdbfde7e883a1da6995",
+    "object_quat": "b4f4a53044c1c9123c48284f42873aaf09c86780bbed368ee2b86b7092af93f6",
+    "phase": "c1f0afd9fca91a608f295e2e21f37f6c1cc0b6b5d5fd89e1537d870b79cd251d",
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+    "timestamps_s": "e7daa582c6bbbdfbf17f052d6c78d9d9b09feed059e6cde4c7933416f4216443"
+  },
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+    "moving28_h5": "f1725cf2c4fbe9fe69f030742fe12b9943b3c5da79651a851b616d9bfc387596"
+  },
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+    "gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
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+    "max_translation_delta_m": 0.0,
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+    "numerical_epsilon_m": 2e-06,
+    "repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
+    "schema": "reorientation_sharpa_final_trajectory_penetration_v1",
+    "steps": [],
+    "tolerance_m": 0.001,
+    "violating_frame_count": 0,
+    "violating_frames": [],
+    "worst_depth": {
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+      "frame": 381,
+      "geometry_names": [
+        "right_sharpa_wave::Mesh",
+        "phone::Mesh_1"
+      ]
+    },
+    "worst_violation_pairs": []
+  },
+  "schema": "sharpa_t0147_aligned_stage2_materialization_receipt_v1",
+  "unchanged_datasets": {
+    "mano_joint_coords": true,
+    "object_pos": true,
+    "object_quat": true,
+    "phase": true,
+    "robot_joints": true,
+    "timestamps_s": true
+  }
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/qa/nonpenetration_report.json

@@ -0,0 +1,26 @@
+{
+  "changed_frame_count": 0,
+  "changed_frames": [],
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+  "gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
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+  "max_violation_m": 3.210409323865619e-07,
+  "numerical_epsilon_m": 2e-06,
+  "repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
+  "schema": "reorientation_sharpa_final_trajectory_penetration_v1",
+  "steps": [],
+  "tolerance_m": 0.001,
+  "violating_frame_count": 0,
+  "violating_frames": [],
+  "worst_depth": {
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+    "geometry_names": [
+      "right_sharpa_wave::Mesh",
+      "phone::Mesh_1"
+    ]
+  },
+  "worst_violation_pairs": []
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/qa/path_audit.json

@@ -0,0 +1,17 @@
+{
+  "episode_id": "phone_15",
+  "gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
+  "historical_absolute_provenance_ignored": true,
+  "resolved_artifacts": {
+    "canonical_retarget_h5": "phone_15/stage2/canonical_retarget.h5",
+    "human_demo_60hz_h5": "phone_15/stage2/human_demo_60hz.h5",
+    "moving28_h5": "phone_15/stage2/retargeted_moving28_60fps.h5",
+    "reference_manifest": "phone_15/stage2/reference_manifest.json",
+    "review_video": "phone_15/qa/stage1_stage2_2x3.mp4",
+    "stage1_manifest": "phone_15/inputs/stage1.manifest.json",
+    "stage1_npz": "phone_15/inputs/stage1.npz",
+    "validation_receipt": "phone_15/qa/stage2_validation.json"
+  },
+  "schema": "sharpa_stage2_release_clone_local_path_audit_v1",
+  "symlink_count": 0
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/qa/stage2_validation.json

@@ -0,0 +1,109 @@
+{
+  "checks": {
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+    "clone_local_paths": true,
+    "frame_count_and_60hz": true,
+    "hard_nonpenetration_measured": true,
+    "joint_names_order_and_limits": true,
+    "moving28_immutable_arrays_preserved": true,
+    "moving28_parent_hash_bound": true,
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+    "review_video_parent_submillimeter_equivalence": true,
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+    "schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
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+    "repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
+    "schema": "reorientation_sharpa_final_trajectory_penetration_v1",
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+      "geometry_names": [
+        "right_sharpa_wave::Mesh",
+        "phone::Mesh_1"
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+    "worst_violation_pairs": []
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+    "hard_nonpenetration": true,
+    "kinematic_only": true,
+    "pip_dip_coupling": true,
+    "recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
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+      "right_thumb_IP",
+      "right_index_MCP_FE",
+      "right_index_MCP_AA",
+      "right_index_PIP",
+      "right_index_DIP",
+      "right_middle_MCP_FE",
+      "right_middle_MCP_AA",
+      "right_middle_PIP",
+      "right_middle_DIP",
+      "right_ring_MCP_FE",
+      "right_ring_MCP_AA",
+      "right_ring_PIP",
+      "right_ring_DIP",
+      "right_pinky_CMC",
+      "right_pinky_MCP_FE",
+      "right_pinky_MCP_AA",
+      "right_pinky_PIP",
+      "right_pinky_DIP"
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+    "sha256": "f1725cf2c4fbe9fe69f030742fe12b9943b3c5da79651a851b616d9bfc387596"
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+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/stage1/stage1.manifest.json

@@ -0,0 +1,56 @@
+{
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+    "frame": 0,
+    "index": 0,
+    "physics_stable_grasp_verified": false
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+    "functional_success_verified": false,
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+    "path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/07_object_centric_human_demo/offset_retune_v5_20260811/phone_15_object_centric_v3_cb3fd766447f.npz",
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+  "object_name": "phone",
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+    "mano_is_skin_or_contact_ground_truth": false,
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+    "time_sync": true
+  },
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+    "world_hand_pose_from_objectMeshA_max_abs_error": 3.1086244689504383e-15,
+    "world_hand_pose_from_objectMesh_max_abs_error": 3.6637359812630166e-15,
+    "world_mano_joints_float32_max_abs_error_m": 7.450580596923828e-09,
+    "world_mano_vertices_float32_max_abs_error_m": 7.450580596923828e-09,
+    "world_object_mesh_pose_max_abs_error": 3.219646771412954e-15
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+  "recipe_version": "export_object_centric_human_demo_generic_v3",
+  "schema": "a2b_immutable_artifact_manifest_v1",
+  "sources": {
+    "corrected_artifact": {
+      "path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_15_corrected_world_v3_cb9063ceb6da.npz",
+      "sha256": "0eeb3384a6b8bea6bd9b0acf7f1474dd0224f5ccc956c809a35610297df11e9d"
+    },
+    "corrected_manifest": {
+      "path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_15_corrected_world_v3_cb9063ceb6da.manifest.json",
+      "sha256": "04c0c3f6cb07e76f7dcc58788b5a944325f0e4ef94fbb037a03644a89ef82f12"
+    }
+  }
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/stage2/reference_manifest.json

@@ -0,0 +1,175 @@
+{
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+      "geometry_names": [
+        "right_sharpa_wave::Mesh",
+        "phone::Mesh_1"
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+  "quaternion_conventions": {
+    "human_object": "wxyz",
+    "human_wrist": "xyzw",
+    "retargeted_object": "wxyz",
+    "retargeted_robot": "wxyz"
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+      "right_thumb_MCP_FE",
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+      "right_index_MCP_AA",
+      "right_index_PIP",
+      "right_index_DIP",
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+      "right_middle_MCP_AA",
+      "right_middle_PIP",
+      "right_middle_DIP",
+      "right_ring_MCP_FE",
+      "right_ring_MCP_AA",
+      "right_ring_PIP",
+      "right_ring_DIP",
+      "right_pinky_CMC",
+      "right_pinky_MCP_FE",
+      "right_pinky_MCP_AA",
+      "right_pinky_PIP",
+      "right_pinky_DIP"
+    ],
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+      "right_hand_C_MC",
+      "right_thumb_MC",
+      "right_thumb_PP",
+      "right_thumb_DP",
+      "right_thumb_fingertip",
+      "right_index_PP",
+      "right_index_MP",
+      "right_index_DP",
+      "right_index_fingertip",
+      "right_middle_PP",
+      "right_middle_MP",
+      "right_middle_DP",
+      "right_middle_fingertip",
+      "right_ring_PP",
+      "right_ring_MP",
+      "right_ring_DP",
+      "right_ring_fingertip",
+      "right_pinky_PP",
+      "right_pinky_MP",
+      "right_pinky_DP",
+      "right_pinky_fingertip"
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+  "source_hz": 60.0,
+  "sources": {
+    "human_h5": {
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+      "path": "retargeted_moving28_60fps.h5",
+      "sha256": "f1725cf2c4fbe9fe69f030742fe12b9943b3c5da79651a851b616d9bfc387596"
+    },
+    "retarget_h5": {
+      "path": "canonical_retarget.h5",
+      "sha256": "9334126d0fa69cbbe963eef9129e9ae86c5c4470b79b374ece59575202a94925"
+    },
+    "source_npz": {
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+  },
+  "units": "m"
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_15/stage2_handoff.json

@@ -0,0 +1,68 @@
+{
+  "artifacts": {
+    "canonical_retarget_h5": {
+      "relative_path": "stage2/canonical_retarget.h5",
+      "sha256": "9334126d0fa69cbbe963eef9129e9ae86c5c4470b79b374ece59575202a94925",
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+      "size_bytes": 15000911
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+      "sha256": "22f2411368d7e3f1b7012c19ae0c843cf015aa9b1140edf23961e6adcd7c3000",
+      "size_bytes": 2449
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+    "stage1_npz": {
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+      "sha256": "17452a078a9bbd0daf9389e284c83403464518bbe5a66ddc5167b2320a28b1f4",
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+  },
+  "dimensions": {
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+    "finger_dof": 22,
+    "root_dof": 6
+  },
+  "episode_id": "phone_15",
+  "object_name": "phone",
+  "provenance": {
+    "git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
+    "git_dirty": false
+  },
+  "repair": {
+    "nonpenetration": "PASS",
+    "qa_status": "ACCEPTED",
+    "recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
+    "solver": "ClarabelSolver"
+  },
+  "schema": "reorientation_sharpa_stage2_handoff_v1",
+  "status": "STAGE2_HANDOFF_ACCEPTED",
+  "timeline": {
+    "frames": 736,
+    "policy_hz": 30.0,
+    "source_hz": 60.0
+  }
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_16/contracts/goal_contract_derivation_receipt.json

@@ -0,0 +1,10 @@
+{
+  "changed_fields": [
+    "evaluation_reference_h5_sha256"
+  ],
+  "child_sha256": "df7f6042eb0f69542ba1d19dd7a885c183a0f76c715aadfdffaac61c88996b05",
+  "evaluation_reference_h5_sha256": "cedadf106ebfaded4e1237920b212824b4c34e1266fba0b6bd8ca772ab8f05d6",
+  "parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
+  "schema": "reorientation_goal_contract_derivation_receipt_v1",
+  "semantic_equivalence": true
+}

objects/phone/releases/phone20-stage12-v1/episodes/phone_16/contracts/goal_region_contract.json

@@ -0,0 +1,334 @@
+{
+  "drop_detection": {
+    "detector": "wrist_object_distance_m",
+    "observability": "required_live_pose",
+    "threshold_m": 0.15
+  },
+  "evaluation_reference_h5_sha256": "cedadf106ebfaded4e1237920b212824b4c34e1266fba0b6bd8ca772ab8f05d6",
+  "goal_exemplars": [
+    {
+      "id": "phone_01",
+      "phone_in_wrist_pose_wxyz": [
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+      "source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
+      "stable_window_end_s": 13,
+      "stable_window_start_s": 12
+    },
+    {
+      "id": "phone_02",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03183333037556811,
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+        0.2258363963836322,
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+      "source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
+      "stable_window_end_s": 10.58333,
+      "stable_window_start_s": 9.583333
+    },
+    {
+      "id": "phone_03",
+      "phone_in_wrist_pose_wxyz": [
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+        0.026394372547997282,
+        0.11310086642605308,
+        0.2989591556842424,
+        0.6785422292252308,
+        0.21132367040699318,
+        0.636825072305053
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+      "source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
+      "stable_window_end_s": 13.1,
+      "stable_window_start_s": 12.1
+    },
+    {
+      "id": "phone_04",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03591273429334814,
+        0.0978112235645566,
+        0.1053596921578995,
+        0.7137527196746393,
+        0.2787498454052086,
+        0.6338413950761033
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+      "source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
+      "stable_window_end_s": 11.58333,
+      "stable_window_start_s": 10.58333
+    },
+    {
+      "id": "phone_05",
+      "phone_in_wrist_pose_wxyz": [
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+        0.027437818730328627,
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+        0.20876300782401547,
+        0.699793109556475,
+        0.2886988847626664,
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+      "stable_window_end_s": 11.03333,
+      "stable_window_start_s": 10.03333
+    },
+    {
+      "id": "phone_06",
+      "phone_in_wrist_pose_wxyz": [
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+        0.016537700924066537,
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+        0.7211224440987967,
+        0.16701969270383124,
+        0.6371904486263397
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+      "source_demo_sha256": "cae25992e1b683f669b97b29177e85bf35f124cd5a1907021ec9b192e69a1ea5",
+      "stable_window_end_s": 15.3,
+      "stable_window_start_s": 14.3
+    },
+    {
+      "id": "phone_07",
+      "phone_in_wrist_pose_wxyz": [
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+        0.024560718960261057,
+        0.10173800934146968,
+        0.09899271094178902,
+        0.7313834731601216,
+        0.2133683707309308,
+        0.6401192051018788
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+      "source_demo_sha256": "97867a2be220cd7fe674ff6cba05f7668abe34e20b31529d5b7a1b86b76ff404",
+      "stable_window_end_s": 12,
+      "stable_window_start_s": 11
+    },
+    {
+      "id": "phone_08",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03207178397464634,
+        0.10486853736373501,
+        0.20581252882660386,
+        0.6727610076442787,
+        0.18850911825210967,
+        0.6851993446488878
+      ],
+      "source_demo_sha256": "3bf1f2d27c22e80bdffbbdad54eb796b088b9c053639af8f656a608b062b25d0",
+      "stable_window_end_s": 21.63333,
+      "stable_window_start_s": 20.63333
+    },
+    {
+      "id": "phone_09",
+      "phone_in_wrist_pose_wxyz": [
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+        0.028614182483931612,
+        0.1040820667122046,
+        0.1995570146144622,
+        0.7261811304200224,
+        0.19079360036143933,
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+      ],
+      "source_demo_sha256": "2b1c92155e1a9597d3b7ae1f6c1ea16583d01dd7e9aa438271ae173b39692d56",
+      "stable_window_end_s": 17.1,
+      "stable_window_start_s": 16.1
+    },
+    {
+      "id": "phone_10",
+      "phone_in_wrist_pose_wxyz": [
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+        0.021469648631921696,
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+      "stable_window_end_s": 17.08333,
+      "stable_window_start_s": 16.08333
+    },
+    {
+      "id": "phone_11",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03409945305163953,
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+        0.15370305283319916,
+        0.6822541076887287,
+        0.24484738236221076,
+        0.6715314314624334
+      ],
+      "source_demo_sha256": "b7ad5f442d672bd3ec8bd3f0cc5b2ff72397d6dd11969c877cfb2d899f94ecb6",
+      "stable_window_end_s": 13.45,
+      "stable_window_start_s": 12.45
+    },
+    {
+      "id": "phone_12",
+      "phone_in_wrist_pose_wxyz": [
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+        0.015857784041174636,
+        0.11045318645217328,
+        0.1971441126114889,
+        0.6546000013235423,
+        0.14761856090145065,
+        0.7147319760632175
+      ],
+      "source_demo_sha256": "6e2b213228245d49dd39ccb01b0960f56b77ae24eb4bcebfb607aff1075d19e7",
+      "stable_window_end_s": 17.216669999999997,
+      "stable_window_start_s": 16.21667
+    },
+    {
+      "id": "phone_13",
+      "phone_in_wrist_pose_wxyz": [
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+        0.03192723583347951,
+        0.10859763655328636,
+        0.06580756307530401,
+        0.6855574481037557,
+        0.30287307662649743,
+        0.6587474853434782
+      ],
+      "source_demo_sha256": "aba431290d98dd244918b6b312c6751d5a7298dee961ba4491df549ffabb2087",
+      "stable_window_end_s": 14.01667,
+      "stable_window_start_s": 13.01667
+    },
+    {
+      "id": "phone_14",
+      "phone_in_wrist_pose_wxyz": [
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+        0.024107126366273685,
+        0.1101136687098419,
+        0.13209380916840568,
+        0.7141369503981138,
+        0.2588473729080719,
+        0.6368341064940323
+      ],
+      "source_demo_sha256": "f989470228901399acf3a3e120f77d8f9ca4cb8d9a95c897cea77e5ac367f231",
+      "stable_window_end_s": 12.68333,
+      "stable_window_start_s": 11.68333
+    },
+    {
+      "id": "phone_15",
+      "phone_in_wrist_pose_wxyz": [
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+        0.024211974898956927,
+        0.10488276129646243,
+        0.1843099175354055,
+        0.7104814000523673,
+        0.25556232245121796,
+        0.6292328136874777
+      ],
+      "source_demo_sha256": "bbadeadfb144dd5e8996844af97039ac3191bce7512e2263189cf133ec386de9",
+      "stable_window_end_s": 12.25,
+      "stable_window_start_s": 11.25
+    },
+    {
+      "id": "phone_16",
+      "phone_in_wrist_pose_wxyz": [
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+        0.021211510709724435,
+        0.10783320331638926,
+        0.15191605967824007,
+        0.7069958486749522,
+        0.17541590787024777,
+        0.6680626018826965
+      ],
+      "source_demo_sha256": "67abc8519de4c37734f94879d79ac10b535d82db57e1d9e2a8f5d8dc82eda2b8",
+      "stable_window_end_s": 13.95,
+      "stable_window_start_s": 12.95
+    },
+    {
+      "id": "phone_17",
+      "phone_in_wrist_pose_wxyz": [
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+        0.024921070169305316,
+        0.0958906981164899,
+        0.1253067875928184,
+        0.7348681356848489,
+        0.20903948059264638,
+        0.6329056230527578
+      ],
+      "source_demo_sha256": "abb09ae5b3b39eadf7ed0d25229aac119b2137d003c587dcd86de28d15423efc",
+      "stable_window_end_s": 13.16667,
+      "stable_window_start_s": 12.16667
+    },
+    {
+      "id": "phone_18",
+      "phone_in_wrist_pose_wxyz": [
+        0.04215868931246264,
+        0.02922544020900463,
+        0.10997688428279144,
+        0.2644560664904675,
+        0.675484271916621,
+        0.16748194371875239,
+        0.667632972386663
+      ],
+      "source_demo_sha256": "ec46ad139b52c664ef4c7ca4c35485bf539ddb4c080547b0bbc617189989db1f",
+      "stable_window_end_s": 16.01667,
+      "stable_window_start_s": 15.01667
+    },
+    {
+      "id": "phone_19",
+      "phone_in_wrist_pose_wxyz": [
+        0.0500052742803781,
+        0.029015203792821576,
+        0.09406593838613851,
+        0.1294320930642176,
+        0.7166413676175086,
+        0.19312812566391516,
+        0.6575515269405626
+      ],
+      "source_demo_sha256": "33a9c959d2301f7414112b9d8512ff709a1beac7a5f0d662969c71ef92cb53e2",
+      "stable_window_end_s": 15,
+      "stable_window_start_s": 14
+    },
+    {
+      "id": "phone_20",
+      "phone_in_wrist_pose_wxyz": [
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+        0.02245202101954502,
+        0.09215099516581593,
+        0.11991907663143349,
+        0.7368239695297542,
+        0.16676188570734887,
+        0.6441275700213502
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+      "source_demo_sha256": "4aed9c16db87f146ab8905ee7138ec414db728577856ddf757023152413e336b",
+      "stable_window_end_s": 14.18333,
+      "stable_window_start_s": 13.18333
+    }
+  ],
+  "hold_duration_s": 0.5,
+  "schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
+  "task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
+  "thresholds": {
+    "goal_orientation_deg": 3,
+    "goal_position_m": 0.003,
+    "hold_rotation_slip_deg": 5,
+    "hold_translation_slip_m": 0.005,
+    "penetration_tolerance_m": 0.001
+  },
+  "vlm_judge": {
+    "enabled": false,
+    "mode": "advisory"
+  },
+  "workspace_lower_m": [
+    -0.25,
+    -0.25,
+    -0.25
+  ],
+  "workspace_upper_m": [
+    0.25,
+    0.25,
+    0.25
+  ]
+}