Add files using upload-large-folder tool
Browse files- objects/phone/releases/phone20-stage12-v1/checksums.sha256 +283 -0
- objects/phone/releases/phone20-stage12-v1/common/goal_region_contract.json +334 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/contracts/goal_contract_derivation_receipt.json +10 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/contracts/goal_region_contract.json +334 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/continuity_jointlimit_report.json +19 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/materialization_receipt.json +83 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/nonpenetration_report.json +42 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/path_audit.json +17 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/stage2_validation.json +125 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/stage1/stage1.manifest.json +56 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/stage2/reference_manifest.json +191 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_01/stage2_handoff.json +68 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/contracts/goal_contract_derivation_receipt.json +10 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/contracts/goal_region_contract.json +334 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/continuity_jointlimit_report.json +19 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/materialization_receipt.json +67 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/nonpenetration_report.json +26 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/path_audit.json +17 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/stage2_validation.json +109 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/stage1/stage1.manifest.json +56 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/stage2/reference_manifest.json +175 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_02/stage2_handoff.json +68 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/contracts/goal_contract_derivation_receipt.json +10 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/contracts/goal_region_contract.json +334 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/continuity_jointlimit_report.json +19 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/materialization_receipt.json +111 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/nonpenetration_report.json +70 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/path_audit.json +17 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/stage2_validation.json +153 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/stage1/stage1.manifest.json +56 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/stage2/reference_manifest.json +219 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_03/stage2_handoff.json +68 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/contracts/goal_contract_derivation_receipt.json +10 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/contracts/goal_region_contract.json +334 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/continuity_jointlimit_report.json +19 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/materialization_receipt.json +83 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/nonpenetration_report.json +42 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/path_audit.json +17 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/stage2_validation.json +125 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/stage1/stage1.manifest.json +56 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/stage2/reference_manifest.json +191 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_04/stage2_handoff.json +68 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_05/contracts/goal_contract_derivation_receipt.json +10 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_05/contracts/goal_region_contract.json +334 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_05/qa/materialization_receipt.json +335 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_05/stage1/stage1.manifest.json +56 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_05/stage2/reference_manifest.json +443 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_05/stage2_handoff.json +68 -0
- objects/phone/releases/phone20-stage12-v1/episodes/phone_20/qa/stage2_validation.json +139 -0
- objects/phone/releases/phone20-stage12-v1/release_manifest.json +2104 -0
objects/phone/releases/phone20-stage12-v1/checksums.sha256
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| 1 |
+
7348c6f117a6588b44a873407379b1e15e3c7fbf00836cabaf0e5becf565e9e5 common/cell_phone.stl
|
| 2 |
+
a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310 common/goal_region_contract.json
|
| 3 |
+
c9dfd378a587efd73f7d3830979ff28eac611993e52b5c905ebd731defbdaa17 common/phone_mesh_fps_100.npy
|
| 4 |
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bfd0df920d74cce653ab35b390d05d0c702c1c909f791e68c7b874136e383138 episodes/phone_01/contracts/goal_contract_derivation_receipt.json
|
| 5 |
+
980b067ba68b70f5be43703658ee2f38579a31206a42af241d18888dbf6aa862 episodes/phone_01/contracts/goal_region_contract.json
|
| 6 |
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58310eff0d6486dc6ef3fb33c92af89fa135f0dbc698df1148399380d35d79fb episodes/phone_01/qa/continuity_jointlimit_report.json
|
| 7 |
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b97dc93f11fe1f52cf77cebf64e9aacfa42337b1899d7b7a9f7913ec37fa9efc episodes/phone_01/qa/materialization_receipt.json
|
| 8 |
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231f31aeb96bd875a5da0e9c4e13cd90be405eaea8c2b8e10e739b28be6d2925 episodes/phone_01/qa/nonpenetration_report.json
|
| 9 |
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2acae1049b2ab5eb5aa45a31b33f71adfdb99b457f12b7df652d5643417b9416 episodes/phone_01/qa/path_audit.json
|
| 10 |
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c2fb7a1e73949309077e98a24a07d7463617b7982a6a3dbb99493ab8b901643a episodes/phone_01/qa/stage2_validation.json
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| 11 |
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065eb963765c335fee7a5f4ca000ff508526c43f81926a59ecde786f37149ccf episodes/phone_01/stage1/stage1.manifest.json
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| 12 |
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ad917592ee69a2214e31ebc4ed316ad6a4ddaf3be712d7a61c17bca5b12c908e episodes/phone_01/stage1/stage1.npz
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| 13 |
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cfd97555fd68dba015a2aba1dd3995d794f367b78e0174d3ddfbe77cb29d3ae3 episodes/phone_01/stage2/canonical_retarget.h5
|
| 14 |
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1cca3be892f9a1af4f15aa4a623ecaf0b75d77b43b54c8187ed5c0d9dab2a939 episodes/phone_01/stage2/human_demo_60hz.h5
|
| 15 |
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62c47cf2d95890d00a8e29e763ee3ba89d664fabe046ada0b69dcfedc4e0d4ae episodes/phone_01/stage2/reference_manifest.json
|
| 16 |
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| 17 |
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21ebc02e61f12e0ef0f8cac0eba63c84e22332893c84c9fb6a4a6740fec3bc8a episodes/phone_01/stage2_handoff.json
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| 18 |
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4b1c4747847b59b6c7c49f7dfae7fd164b2320146f572ac307a3e5ba47407ac4 episodes/phone_02/contracts/goal_contract_derivation_receipt.json
|
| 19 |
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9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea episodes/phone_02/contracts/goal_region_contract.json
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| 20 |
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d9af214d9901f037248fb025fc137bbe26fe75db13a7df40b146ce4434d1c8d8 episodes/phone_02/qa/continuity_jointlimit_report.json
|
| 21 |
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3e6cc487f306e952aace6bf6a3aa670800497967584ab2990a776672e73c2373 episodes/phone_02/qa/materialization_receipt.json
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| 22 |
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| 23 |
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| 27 |
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| 28 |
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| 29 |
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843c8cc6b638687472f9f194e53399c8532a2ab2c8b0f88f1e05eb8ab1eae65f episodes/phone_02/stage2/reference_manifest.json
|
| 30 |
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0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717 episodes/phone_02/stage2/retargeted_moving28_60fps.h5
|
| 31 |
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4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69 episodes/phone_02/stage2_handoff.json
|
| 32 |
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cacf2a42e9f144670be263bdface5ff973ebb85c99e916f01635395071e1ce0d episodes/phone_03/contracts/goal_contract_derivation_receipt.json
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| 33 |
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b270e9294e45524f2c630220d6ebfad3c98a3732c5ef30ed54ca0cb23dcd9281 episodes/phone_03/contracts/goal_region_contract.json
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| 34 |
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| 35 |
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6bab37ad641d61123d4ddb84bb27e11a660a5493c53e8d52a70d0de800e0e0a6 episodes/phone_03/qa/materialization_receipt.json
|
| 36 |
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| 37 |
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29bfdb11b90095e08efefd38a528d99007b5c3d4b8c498436211e8ffd5279b5f episodes/phone_03/qa/stage2_validation.json
|
| 39 |
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c6bad88fc48b0a81ec4f59a0a729e055b9bae609b58a9669871f5ef4b81308fb episodes/phone_03/stage1/stage1.manifest.json
|
| 40 |
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|
| 41 |
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9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19 episodes/phone_03/stage2/canonical_retarget.h5
|
| 42 |
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bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de episodes/phone_03/stage2/human_demo_60hz.h5
|
| 43 |
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014d7dd2d96cd36b723973490569c2ad443ddf6f3fdc60a4c787944c2f04f77d episodes/phone_03/stage2/reference_manifest.json
|
| 44 |
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| 45 |
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beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2 episodes/phone_03/stage2_handoff.json
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| 46 |
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|
| 47 |
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e9d5af764551161d221ea233ad9cb8179fe5ecdadf7df0ae680a1235ae45f4d2 episodes/phone_04/contracts/goal_region_contract.json
|
| 48 |
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baf72dff9930c3f1134eac091615cea1271310d11dc10f064339467bb28aaa35 episodes/phone_04/qa/continuity_jointlimit_report.json
|
| 49 |
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| 50 |
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| 51 |
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| 53 |
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|
| 54 |
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f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837 episodes/phone_04/stage1/stage1.npz
|
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|
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|
objects/phone/releases/phone20-stage12-v1/common/goal_region_contract.json
ADDED
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| 245 |
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"source_demo_sha256": "67abc8519de4c37734f94879d79ac10b535d82db57e1d9e2a8f5d8dc82eda2b8",
|
| 246 |
+
"stable_window_end_s": 13.95,
|
| 247 |
+
"stable_window_start_s": 12.95
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"id": "phone_17",
|
| 251 |
+
"phone_in_wrist_pose_wxyz": [
|
| 252 |
+
0.04438943936514513,
|
| 253 |
+
0.024921070169305316,
|
| 254 |
+
0.0958906981164899,
|
| 255 |
+
0.1253067875928184,
|
| 256 |
+
0.7348681356848489,
|
| 257 |
+
0.20903948059264638,
|
| 258 |
+
0.6329056230527578
|
| 259 |
+
],
|
| 260 |
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"source_demo_sha256": "abb09ae5b3b39eadf7ed0d25229aac119b2137d003c587dcd86de28d15423efc",
|
| 261 |
+
"stable_window_end_s": 13.16667,
|
| 262 |
+
"stable_window_start_s": 12.16667
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"id": "phone_18",
|
| 266 |
+
"phone_in_wrist_pose_wxyz": [
|
| 267 |
+
0.04215868931246264,
|
| 268 |
+
0.02922544020900463,
|
| 269 |
+
0.10997688428279144,
|
| 270 |
+
0.2644560664904675,
|
| 271 |
+
0.675484271916621,
|
| 272 |
+
0.16748194371875239,
|
| 273 |
+
0.667632972386663
|
| 274 |
+
],
|
| 275 |
+
"source_demo_sha256": "ec46ad139b52c664ef4c7ca4c35485bf539ddb4c080547b0bbc617189989db1f",
|
| 276 |
+
"stable_window_end_s": 16.01667,
|
| 277 |
+
"stable_window_start_s": 15.01667
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"id": "phone_19",
|
| 281 |
+
"phone_in_wrist_pose_wxyz": [
|
| 282 |
+
0.0500052742803781,
|
| 283 |
+
0.029015203792821576,
|
| 284 |
+
0.09406593838613851,
|
| 285 |
+
0.1294320930642176,
|
| 286 |
+
0.7166413676175086,
|
| 287 |
+
0.19312812566391516,
|
| 288 |
+
0.6575515269405626
|
| 289 |
+
],
|
| 290 |
+
"source_demo_sha256": "33a9c959d2301f7414112b9d8512ff709a1beac7a5f0d662969c71ef92cb53e2",
|
| 291 |
+
"stable_window_end_s": 15,
|
| 292 |
+
"stable_window_start_s": 14
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"id": "phone_20",
|
| 296 |
+
"phone_in_wrist_pose_wxyz": [
|
| 297 |
+
0.04638415913847929,
|
| 298 |
+
0.02245202101954502,
|
| 299 |
+
0.09215099516581593,
|
| 300 |
+
0.11991907663143349,
|
| 301 |
+
0.7368239695297542,
|
| 302 |
+
0.16676188570734887,
|
| 303 |
+
0.6441275700213502
|
| 304 |
+
],
|
| 305 |
+
"source_demo_sha256": "4aed9c16db87f146ab8905ee7138ec414db728577856ddf757023152413e336b",
|
| 306 |
+
"stable_window_end_s": 14.18333,
|
| 307 |
+
"stable_window_start_s": 13.18333
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"hold_duration_s": 0.5,
|
| 311 |
+
"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
+
"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
+
"thresholds": {
|
| 314 |
+
"goal_orientation_deg": 3,
|
| 315 |
+
"goal_position_m": 0.003,
|
| 316 |
+
"hold_rotation_slip_deg": 5,
|
| 317 |
+
"hold_translation_slip_m": 0.005,
|
| 318 |
+
"penetration_tolerance_m": 0.001
|
| 319 |
+
},
|
| 320 |
+
"vlm_judge": {
|
| 321 |
+
"enabled": false,
|
| 322 |
+
"mode": "advisory"
|
| 323 |
+
},
|
| 324 |
+
"workspace_lower_m": [
|
| 325 |
+
-0.25,
|
| 326 |
+
-0.25,
|
| 327 |
+
-0.25
|
| 328 |
+
],
|
| 329 |
+
"workspace_upper_m": [
|
| 330 |
+
0.25,
|
| 331 |
+
0.25,
|
| 332 |
+
0.25
|
| 333 |
+
]
|
| 334 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_fields": [
|
| 3 |
+
"evaluation_reference_h5_sha256"
|
| 4 |
+
],
|
| 5 |
+
"child_sha256": "980b067ba68b70f5be43703658ee2f38579a31206a42af241d18888dbf6aa862",
|
| 6 |
+
"evaluation_reference_h5_sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6",
|
| 7 |
+
"parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
|
| 8 |
+
"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
+
"semantic_equivalence": true
|
| 10 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drop_detection": {
|
| 3 |
+
"detector": "wrist_object_distance_m",
|
| 4 |
+
"observability": "required_live_pose",
|
| 5 |
+
"threshold_m": 0.15
|
| 6 |
+
},
|
| 7 |
+
"evaluation_reference_h5_sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6",
|
| 8 |
+
"goal_exemplars": [
|
| 9 |
+
{
|
| 10 |
+
"id": "phone_01",
|
| 11 |
+
"phone_in_wrist_pose_wxyz": [
|
| 12 |
+
0.04497496687500502,
|
| 13 |
+
0.031092940773731953,
|
| 14 |
+
0.10514462356554327,
|
| 15 |
+
0.18347857989940888,
|
| 16 |
+
0.7320197472069027,
|
| 17 |
+
0.24928085199129213,
|
| 18 |
+
0.6069116552248229
|
| 19 |
+
],
|
| 20 |
+
"source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
|
| 21 |
+
"stable_window_end_s": 13,
|
| 22 |
+
"stable_window_start_s": 12
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"id": "phone_02",
|
| 26 |
+
"phone_in_wrist_pose_wxyz": [
|
| 27 |
+
0.04681787462515056,
|
| 28 |
+
0.03183333037556811,
|
| 29 |
+
0.09926507128878602,
|
| 30 |
+
0.2258363963836322,
|
| 31 |
+
0.7176556957423054,
|
| 32 |
+
0.2100871076302479,
|
| 33 |
+
0.6243649827181528
|
| 34 |
+
],
|
| 35 |
+
"source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
|
| 36 |
+
"stable_window_end_s": 10.58333,
|
| 37 |
+
"stable_window_start_s": 9.583333
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"id": "phone_03",
|
| 41 |
+
"phone_in_wrist_pose_wxyz": [
|
| 42 |
+
0.042993544172995224,
|
| 43 |
+
0.026394372547997282,
|
| 44 |
+
0.11310086642605308,
|
| 45 |
+
0.2989591556842424,
|
| 46 |
+
0.6785422292252308,
|
| 47 |
+
0.21132367040699318,
|
| 48 |
+
0.636825072305053
|
| 49 |
+
],
|
| 50 |
+
"source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
|
| 51 |
+
"stable_window_end_s": 13.1,
|
| 52 |
+
"stable_window_start_s": 12.1
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"id": "phone_04",
|
| 56 |
+
"phone_in_wrist_pose_wxyz": [
|
| 57 |
+
0.04203459714254923,
|
| 58 |
+
0.03591273429334814,
|
| 59 |
+
0.0978112235645566,
|
| 60 |
+
0.1053596921578995,
|
| 61 |
+
0.7137527196746393,
|
| 62 |
+
0.2787498454052086,
|
| 63 |
+
0.6338413950761033
|
| 64 |
+
],
|
| 65 |
+
"source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
|
| 66 |
+
"stable_window_end_s": 11.58333,
|
| 67 |
+
"stable_window_start_s": 10.58333
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"id": "phone_05",
|
| 71 |
+
"phone_in_wrist_pose_wxyz": [
|
| 72 |
+
0.041006305548787335,
|
| 73 |
+
0.027437818730328627,
|
| 74 |
+
0.1121336988247133,
|
| 75 |
+
0.20876300782401547,
|
| 76 |
+
0.699793109556475,
|
| 77 |
+
0.2886988847626664,
|
| 78 |
+
0.6191611779806145
|
| 79 |
+
],
|
| 80 |
+
"source_demo_sha256": "42e65d8367e2c5f8217272d569dddc3bdfd248d156e2d4657ea70a3fad093972",
|
| 81 |
+
"stable_window_end_s": 11.03333,
|
| 82 |
+
"stable_window_start_s": 10.03333
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"id": "phone_06",
|
| 86 |
+
"phone_in_wrist_pose_wxyz": [
|
| 87 |
+
0.04064552807107231,
|
| 88 |
+
0.016537700924066537,
|
| 89 |
+
0.09593237875619372,
|
| 90 |
+
0.21465128708083678,
|
| 91 |
+
0.7211224440987967,
|
| 92 |
+
0.16701969270383124,
|
| 93 |
+
0.6371904486263397
|
| 94 |
+
],
|
| 95 |
+
"source_demo_sha256": "cae25992e1b683f669b97b29177e85bf35f124cd5a1907021ec9b192e69a1ea5",
|
| 96 |
+
"stable_window_end_s": 15.3,
|
| 97 |
+
"stable_window_start_s": 14.3
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"id": "phone_07",
|
| 101 |
+
"phone_in_wrist_pose_wxyz": [
|
| 102 |
+
0.04352192076906967,
|
| 103 |
+
0.024560718960261057,
|
| 104 |
+
0.10173800934146968,
|
| 105 |
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0.09899271094178902,
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| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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| 128 |
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|
| 129 |
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|
| 130 |
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|
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| 132 |
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| 141 |
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|
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|
| 143 |
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|
| 144 |
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{
|
| 145 |
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|
| 146 |
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| 147 |
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|
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|
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| 158 |
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|
| 159 |
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{
|
| 160 |
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|
| 161 |
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| 162 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 203 |
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|
| 204 |
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{
|
| 205 |
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|
| 206 |
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| 207 |
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|
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|
| 218 |
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|
| 219 |
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{
|
| 220 |
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"id": "phone_15",
|
| 221 |
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| 222 |
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| 223 |
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| 227 |
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|
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| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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{
|
| 235 |
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"id": "phone_16",
|
| 236 |
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|
| 237 |
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|
| 238 |
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| 244 |
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|
| 245 |
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| 246 |
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|
| 247 |
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|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
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"id": "phone_17",
|
| 251 |
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"phone_in_wrist_pose_wxyz": [
|
| 252 |
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|
| 253 |
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|
| 254 |
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| 260 |
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| 261 |
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|
| 262 |
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|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"id": "phone_18",
|
| 266 |
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|
| 267 |
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|
| 268 |
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| 269 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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| 276 |
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|
| 277 |
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|
| 278 |
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},
|
| 279 |
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{
|
| 280 |
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"id": "phone_19",
|
| 281 |
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"phone_in_wrist_pose_wxyz": [
|
| 282 |
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|
| 283 |
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0.029015203792821576,
|
| 284 |
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|
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|
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|
| 287 |
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| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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},
|
| 294 |
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{
|
| 295 |
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"id": "phone_20",
|
| 296 |
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"phone_in_wrist_pose_wxyz": [
|
| 297 |
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|
| 298 |
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0.02245202101954502,
|
| 299 |
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0.09215099516581593,
|
| 300 |
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0.11991907663143349,
|
| 301 |
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0.7368239695297542,
|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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}
|
| 309 |
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],
|
| 310 |
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"hold_duration_s": 0.5,
|
| 311 |
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"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
+
"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
+
"thresholds": {
|
| 314 |
+
"goal_orientation_deg": 3,
|
| 315 |
+
"goal_position_m": 0.003,
|
| 316 |
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"hold_rotation_slip_deg": 5,
|
| 317 |
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"hold_translation_slip_m": 0.005,
|
| 318 |
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"penetration_tolerance_m": 0.001
|
| 319 |
+
},
|
| 320 |
+
"vlm_judge": {
|
| 321 |
+
"enabled": false,
|
| 322 |
+
"mode": "advisory"
|
| 323 |
+
},
|
| 324 |
+
"workspace_lower_m": [
|
| 325 |
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-0.25,
|
| 326 |
+
-0.25,
|
| 327 |
+
-0.25
|
| 328 |
+
],
|
| 329 |
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"workspace_upper_m": [
|
| 330 |
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0.25,
|
| 331 |
+
0.25,
|
| 332 |
+
0.25
|
| 333 |
+
]
|
| 334 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/continuity_jointlimit_report.json
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"continuity_preserved": true,
|
| 4 |
+
"finite": true,
|
| 5 |
+
"joint_limits": true,
|
| 6 |
+
"joint_names_order": true,
|
| 7 |
+
"pip_dip_coupling": true,
|
| 8 |
+
"quaternion_unit": true,
|
| 9 |
+
"repair_submillimeter": true,
|
| 10 |
+
"timestamps_60hz_strict": true
|
| 11 |
+
},
|
| 12 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 13 |
+
"max_joint_step_rad": 0.08290156816466387,
|
| 14 |
+
"max_root_repair_delta_m": 1.0908024873271477e-05,
|
| 15 |
+
"max_root_rotation_step_rad": 0.031148746475973623,
|
| 16 |
+
"max_root_translation_step_child_m": 0.0027001525001951435,
|
| 17 |
+
"max_root_translation_step_parent_m": 0.0027001525001951435,
|
| 18 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 19 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/materialization_receipt.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"allowed_changes": [
|
| 3 |
+
"robot_pos",
|
| 4 |
+
"robot_quat",
|
| 5 |
+
"robot_keypoints"
|
| 6 |
+
],
|
| 7 |
+
"child_sha256": {
|
| 8 |
+
"canonical_retarget_h5": "cfd97555fd68dba015a2aba1dd3995d794f367b78e0174d3ddfbe77cb29d3ae3",
|
| 9 |
+
"moving28_h5": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6"
|
| 10 |
+
},
|
| 11 |
+
"gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
|
| 12 |
+
"immutable_dataset_fingerprints_after": {
|
| 13 |
+
"mano_joint_coords": "352e6adf2f1979fa96cafa50d3af0f18d3b918a071810f0ffb60344f8a0f1386",
|
| 14 |
+
"object_pos": "85f2e73f5eb086f1a817e56c92a27b40b70f5a96a3a6f047c1bc76c8a92d0840",
|
| 15 |
+
"object_quat": "867be6544d138777934a73a591903207f65b6e7c2549ad4281cf2037fc62f17f",
|
| 16 |
+
"phase": "cab861eda5e475ea2119cb096189686ec97808ec59bf757d181178c86e117334",
|
| 17 |
+
"robot_joints": "5b3b83d91816d115549011f47dd13509492da4074240be62c7aaf298564f1893",
|
| 18 |
+
"timestamps_s": "5829a56e958fa8dc467772cf370da29bfef9fad82702a52dbfbcb56e7b6a79b0"
|
| 19 |
+
},
|
| 20 |
+
"immutable_dataset_fingerprints_before": {
|
| 21 |
+
"mano_joint_coords": "352e6adf2f1979fa96cafa50d3af0f18d3b918a071810f0ffb60344f8a0f1386",
|
| 22 |
+
"object_pos": "85f2e73f5eb086f1a817e56c92a27b40b70f5a96a3a6f047c1bc76c8a92d0840",
|
| 23 |
+
"object_quat": "867be6544d138777934a73a591903207f65b6e7c2549ad4281cf2037fc62f17f",
|
| 24 |
+
"phase": "cab861eda5e475ea2119cb096189686ec97808ec59bf757d181178c86e117334",
|
| 25 |
+
"robot_joints": "5b3b83d91816d115549011f47dd13509492da4074240be62c7aaf298564f1893",
|
| 26 |
+
"timestamps_s": "5829a56e958fa8dc467772cf370da29bfef9fad82702a52dbfbcb56e7b6a79b0"
|
| 27 |
+
},
|
| 28 |
+
"parent_sha256": {
|
| 29 |
+
"canonical_retarget_h5": "7687184414fdb5a32d26dd9def03f3bfb76291226a61c2e11babc92599cbac45",
|
| 30 |
+
"moving28_h5": "9a60e1d909eab2d2b0e2e47032fe4471cf6cbaa592c4b545c93f880bbc437883"
|
| 31 |
+
},
|
| 32 |
+
"repair": {
|
| 33 |
+
"changed_frame_count": 1,
|
| 34 |
+
"changed_frames": [
|
| 35 |
+
338
|
| 36 |
+
],
|
| 37 |
+
"frame_count": 781,
|
| 38 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 39 |
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"max_penetration_depth_m": 0.001001953592803277,
|
| 40 |
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"max_rotation_delta_deg": 0.0,
|
| 41 |
+
"max_translation_delta_m": 1.0908024873271477e-05,
|
| 42 |
+
"max_violation_m": 1.95359280327702e-06,
|
| 43 |
+
"numerical_epsilon_m": 2e-06,
|
| 44 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 45 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 46 |
+
"steps": [
|
| 47 |
+
{
|
| 48 |
+
"frame": 338,
|
| 49 |
+
"geometry_names": [
|
| 50 |
+
"right_sharpa_wave::Mesh",
|
| 51 |
+
"phone::Mesh_1"
|
| 52 |
+
],
|
| 53 |
+
"pre_repair_violation_m": 5.908024873274012e-06,
|
| 54 |
+
"robot_root_translation_delta_m": [
|
| 55 |
+
2.3778823277399973e-06,
|
| 56 |
+
8.838864776007828e-06,
|
| 57 |
+
-5.93339293683087e-06
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
],
|
| 61 |
+
"tolerance_m": 0.001,
|
| 62 |
+
"violating_frame_count": 0,
|
| 63 |
+
"violating_frames": [],
|
| 64 |
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"worst_depth": {
|
| 65 |
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"depth_m": 0.001001953592803277,
|
| 66 |
+
"frame": 233,
|
| 67 |
+
"geometry_names": [
|
| 68 |
+
"right_sharpa_wave::Mesh",
|
| 69 |
+
"phone::Mesh_1"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"worst_violation_pairs": []
|
| 73 |
+
},
|
| 74 |
+
"schema": "sharpa_t0147_aligned_stage2_materialization_receipt_v1",
|
| 75 |
+
"unchanged_datasets": {
|
| 76 |
+
"mano_joint_coords": true,
|
| 77 |
+
"object_pos": true,
|
| 78 |
+
"object_quat": true,
|
| 79 |
+
"phase": true,
|
| 80 |
+
"robot_joints": true,
|
| 81 |
+
"timestamps_s": true
|
| 82 |
+
}
|
| 83 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/nonpenetration_report.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_frame_count": 1,
|
| 3 |
+
"changed_frames": [
|
| 4 |
+
338
|
| 5 |
+
],
|
| 6 |
+
"frame_count": 781,
|
| 7 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 8 |
+
"max_penetration_depth_m": 0.001001953592803277,
|
| 9 |
+
"max_rotation_delta_deg": 0.0,
|
| 10 |
+
"max_translation_delta_m": 1.0908024873271477e-05,
|
| 11 |
+
"max_violation_m": 1.95359280327702e-06,
|
| 12 |
+
"numerical_epsilon_m": 2e-06,
|
| 13 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 14 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 15 |
+
"steps": [
|
| 16 |
+
{
|
| 17 |
+
"frame": 338,
|
| 18 |
+
"geometry_names": [
|
| 19 |
+
"right_sharpa_wave::Mesh",
|
| 20 |
+
"phone::Mesh_1"
|
| 21 |
+
],
|
| 22 |
+
"pre_repair_violation_m": 5.908024873274012e-06,
|
| 23 |
+
"robot_root_translation_delta_m": [
|
| 24 |
+
2.3778823277399973e-06,
|
| 25 |
+
8.838864776007828e-06,
|
| 26 |
+
-5.93339293683087e-06
|
| 27 |
+
]
|
| 28 |
+
}
|
| 29 |
+
],
|
| 30 |
+
"tolerance_m": 0.001,
|
| 31 |
+
"violating_frame_count": 0,
|
| 32 |
+
"violating_frames": [],
|
| 33 |
+
"worst_depth": {
|
| 34 |
+
"depth_m": 0.001001953592803277,
|
| 35 |
+
"frame": 233,
|
| 36 |
+
"geometry_names": [
|
| 37 |
+
"right_sharpa_wave::Mesh",
|
| 38 |
+
"phone::Mesh_1"
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"worst_violation_pairs": []
|
| 42 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/path_audit.json
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_id": "phone_01",
|
| 3 |
+
"gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
|
| 4 |
+
"historical_absolute_provenance_ignored": true,
|
| 5 |
+
"resolved_artifacts": {
|
| 6 |
+
"canonical_retarget_h5": "phone_01/stage2/canonical_retarget.h5",
|
| 7 |
+
"human_demo_60hz_h5": "phone_01/stage2/human_demo_60hz.h5",
|
| 8 |
+
"moving28_h5": "phone_01/stage2/retargeted_moving28_60fps.h5",
|
| 9 |
+
"reference_manifest": "phone_01/stage2/reference_manifest.json",
|
| 10 |
+
"review_video": "phone_01/qa/stage1_stage2_2x3.mp4",
|
| 11 |
+
"stage1_manifest": "phone_01/inputs/stage1.manifest.json",
|
| 12 |
+
"stage1_npz": "phone_01/inputs/stage1.npz",
|
| 13 |
+
"validation_receipt": "phone_01/qa/stage2_validation.json"
|
| 14 |
+
},
|
| 15 |
+
"schema": "sharpa_stage2_release_clone_local_path_audit_v1",
|
| 16 |
+
"symlink_count": 0
|
| 17 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/qa/stage2_validation.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"canonical_source_derived": true,
|
| 4 |
+
"clone_local_paths": true,
|
| 5 |
+
"frame_count_and_60hz": true,
|
| 6 |
+
"hard_nonpenetration_measured": true,
|
| 7 |
+
"joint_names_order_and_limits": true,
|
| 8 |
+
"moving28_immutable_arrays_preserved": true,
|
| 9 |
+
"moving28_parent_hash_bound": true,
|
| 10 |
+
"pip_dip_coupling": true,
|
| 11 |
+
"quaternion_finite_unit": true,
|
| 12 |
+
"review_video_parent_submillimeter_equivalence": true,
|
| 13 |
+
"root_continuity": true
|
| 14 |
+
},
|
| 15 |
+
"continuity_jointlimit": {
|
| 16 |
+
"checks": {
|
| 17 |
+
"continuity_preserved": true,
|
| 18 |
+
"finite": true,
|
| 19 |
+
"joint_limits": true,
|
| 20 |
+
"joint_names_order": true,
|
| 21 |
+
"pip_dip_coupling": true,
|
| 22 |
+
"quaternion_unit": true,
|
| 23 |
+
"repair_submillimeter": true,
|
| 24 |
+
"timestamps_60hz_strict": true
|
| 25 |
+
},
|
| 26 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 27 |
+
"max_joint_step_rad": 0.08290156816466387,
|
| 28 |
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"max_root_repair_delta_m": 1.0908024873271477e-05,
|
| 29 |
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"max_root_rotation_step_rad": 0.031148746475973623,
|
| 30 |
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"max_root_translation_step_child_m": 0.0027001525001951435,
|
| 31 |
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"max_root_translation_step_parent_m": 0.0027001525001951435,
|
| 32 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 33 |
+
},
|
| 34 |
+
"gate": "ACTUATOR_PARITY_STAGE2_INPUT_PASS",
|
| 35 |
+
"penetration_audit": {
|
| 36 |
+
"changed_frame_count": 1,
|
| 37 |
+
"changed_frames": [
|
| 38 |
+
338
|
| 39 |
+
],
|
| 40 |
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"frame_count": 781,
|
| 41 |
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"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 42 |
+
"max_penetration_depth_m": 0.001001953592803277,
|
| 43 |
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"max_rotation_delta_deg": 0.0,
|
| 44 |
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"max_translation_delta_m": 1.0908024873271477e-05,
|
| 45 |
+
"max_violation_m": 1.95359280327702e-06,
|
| 46 |
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"numerical_epsilon_m": 2e-06,
|
| 47 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 48 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 49 |
+
"steps": [
|
| 50 |
+
{
|
| 51 |
+
"frame": 338,
|
| 52 |
+
"geometry_names": [
|
| 53 |
+
"right_sharpa_wave::Mesh",
|
| 54 |
+
"phone::Mesh_1"
|
| 55 |
+
],
|
| 56 |
+
"pre_repair_violation_m": 5.908024873274012e-06,
|
| 57 |
+
"robot_root_translation_delta_m": [
|
| 58 |
+
2.3778823277399973e-06,
|
| 59 |
+
8.838864776007828e-06,
|
| 60 |
+
-5.93339293683087e-06
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"tolerance_m": 0.001,
|
| 65 |
+
"violating_frame_count": 0,
|
| 66 |
+
"violating_frames": [],
|
| 67 |
+
"worst_depth": {
|
| 68 |
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"depth_m": 0.001001953592803277,
|
| 69 |
+
"frame": 233,
|
| 70 |
+
"geometry_names": [
|
| 71 |
+
"right_sharpa_wave::Mesh",
|
| 72 |
+
"phone::Mesh_1"
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"worst_violation_pairs": []
|
| 76 |
+
},
|
| 77 |
+
"required_qa": {
|
| 78 |
+
"action_dim": 28,
|
| 79 |
+
"continuity": true,
|
| 80 |
+
"finger_dof": 22,
|
| 81 |
+
"hard_nonpenetration": true,
|
| 82 |
+
"kinematic_only": true,
|
| 83 |
+
"pip_dip_coupling": true,
|
| 84 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 85 |
+
"solver": "ClarabelSolver"
|
| 86 |
+
},
|
| 87 |
+
"review_video": {
|
| 88 |
+
"max_unrendered_root_translation_delta_m": 1.0908024873271477e-05,
|
| 89 |
+
"release_penetration_tolerance_m": 0.001,
|
| 90 |
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"sha256": "b5166adefe1dcd25230b1571271cf7ff0f8bd17b26219e8e826c6b86d4b49fdd",
|
| 91 |
+
"source": "T0-147-aligned parent render",
|
| 92 |
+
"user_accepted_submillimeter_equivalence": true
|
| 93 |
+
},
|
| 94 |
+
"schema": "sharpa_actuatorparity_stage2_input_validation_v1",
|
| 95 |
+
"training_h5": {
|
| 96 |
+
"frames": 781,
|
| 97 |
+
"joint_count": 22,
|
| 98 |
+
"joint_names": [
|
| 99 |
+
"right_thumb_CMC_FE",
|
| 100 |
+
"right_thumb_CMC_AA",
|
| 101 |
+
"right_thumb_MCP_FE",
|
| 102 |
+
"right_thumb_MCP_AA",
|
| 103 |
+
"right_thumb_IP",
|
| 104 |
+
"right_index_MCP_FE",
|
| 105 |
+
"right_index_MCP_AA",
|
| 106 |
+
"right_index_PIP",
|
| 107 |
+
"right_index_DIP",
|
| 108 |
+
"right_middle_MCP_FE",
|
| 109 |
+
"right_middle_MCP_AA",
|
| 110 |
+
"right_middle_PIP",
|
| 111 |
+
"right_middle_DIP",
|
| 112 |
+
"right_ring_MCP_FE",
|
| 113 |
+
"right_ring_MCP_AA",
|
| 114 |
+
"right_ring_PIP",
|
| 115 |
+
"right_ring_DIP",
|
| 116 |
+
"right_pinky_CMC",
|
| 117 |
+
"right_pinky_MCP_FE",
|
| 118 |
+
"right_pinky_MCP_AA",
|
| 119 |
+
"right_pinky_PIP",
|
| 120 |
+
"right_pinky_DIP"
|
| 121 |
+
],
|
| 122 |
+
"policy_action_dim": 28,
|
| 123 |
+
"sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6"
|
| 124 |
+
}
|
| 125 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/stage1/stage1.manifest.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"A": {
|
| 3 |
+
"definition": "first temporal-clean jointly-valid frame",
|
| 4 |
+
"frame": 0,
|
| 5 |
+
"index": 0,
|
| 6 |
+
"physics_stable_grasp_verified": false
|
| 7 |
+
},
|
| 8 |
+
"B": {
|
| 9 |
+
"definition": "last temporal-clean jointly-valid frame",
|
| 10 |
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"frame": 780,
|
| 11 |
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"functional_success_verified": false,
|
| 12 |
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"index": 780
|
| 13 |
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},
|
| 14 |
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"artifact": {
|
| 15 |
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"bytes": 15357686,
|
| 16 |
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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_01_object_centric_v3_2ae3cc012fb2.npz",
|
| 17 |
+
"read_only_mode": "0444",
|
| 18 |
+
"sha256": "ad917592ee69a2214e31ebc4ed316ad6a4ddaf3be712d7a61c17bca5b12c908e"
|
| 19 |
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},
|
| 20 |
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"duration_s": 13.0,
|
| 21 |
+
"episode_id": "phone_01",
|
| 22 |
+
"frames": 781,
|
| 23 |
+
"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
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"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
+
"object_rigid_from_mesh": true,
|
| 28 |
+
"time_sync": true
|
| 29 |
+
},
|
| 30 |
+
"qa": {
|
| 31 |
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"A_object_position_norm_m": 5.551115123125783e-17,
|
| 32 |
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"A_object_rotation_matrix_max_abs_error": 2.886579864025407e-15,
|
| 33 |
+
"phase_end": 1.0,
|
| 34 |
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"phase_start": 0.0,
|
| 35 |
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"phase_strictly_increasing": true,
|
| 36 |
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"world_hand_joints_max_abs_error_m": 4.718447854656915e-16,
|
| 37 |
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"world_hand_pose_from_objectMeshA_max_abs_error": 2.3314683517128287e-15,
|
| 38 |
+
"world_hand_pose_from_objectMesh_max_abs_error": 3.6637359812630166e-15,
|
| 39 |
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"world_mano_joints_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 40 |
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"world_mano_vertices_float32_max_abs_error_m": 1.4901161193847656e-08,
|
| 41 |
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"world_object_mesh_pose_max_abs_error": 2.3314683517128287e-15
|
| 42 |
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},
|
| 43 |
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"recipe_id": "2ae3cc012fb20bac6e81756fc1a9705f84e7e209a5a7e54baa53c4da6bd0a78e",
|
| 44 |
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"recipe_version": "export_object_centric_human_demo_generic_v3",
|
| 45 |
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"schema": "a2b_immutable_artifact_manifest_v1",
|
| 46 |
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"sources": {
|
| 47 |
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"corrected_artifact": {
|
| 48 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_01_corrected_world_v3_f008b12fb632.npz",
|
| 49 |
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"sha256": "de1ce793be31c5e5a08e73a98cad0c60f0b07163362b0511d2f39290dd097528"
|
| 50 |
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},
|
| 51 |
+
"corrected_manifest": {
|
| 52 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_01_corrected_world_v3_f008b12fb632.manifest.json",
|
| 53 |
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"sha256": "d125744ad7c2a179a71afa107d0eaf7b813f6c1b50e63c280b1c59cf40fdcb53"
|
| 54 |
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|
| 55 |
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}
|
| 56 |
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}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/stage2/reference_manifest.json
ADDED
|
@@ -0,0 +1,191 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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},
|
| 14 |
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"canonical_world_frame": "gravity_aligned_isaac_world",
|
| 15 |
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"episode_id": "phone_01",
|
| 16 |
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|
| 17 |
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"penetration_audit": {
|
| 18 |
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|
| 19 |
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|
| 20 |
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338
|
| 21 |
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],
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"numerical_epsilon_m": 2e-06,
|
| 29 |
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"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 30 |
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"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 31 |
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"steps": [
|
| 32 |
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{
|
| 33 |
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"frame": 338,
|
| 34 |
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"geometry_names": [
|
| 35 |
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"right_sharpa_wave::Mesh",
|
| 36 |
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"phone::Mesh_1"
|
| 37 |
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],
|
| 38 |
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"pre_repair_violation_m": 5.908024873274012e-06,
|
| 39 |
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"robot_root_translation_delta_m": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
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],
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"tolerance_m": 0.001,
|
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|
| 48 |
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|
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"depth_m": 0.001001953592803277,
|
| 51 |
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"frame": 233,
|
| 52 |
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"geometry_names": [
|
| 53 |
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"right_sharpa_wave::Mesh",
|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"worst_violation_pairs": []
|
| 58 |
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},
|
| 59 |
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"quaternion_conventions": {
|
| 60 |
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"human_object": "wxyz",
|
| 61 |
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"human_wrist": "xyzw",
|
| 62 |
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"retargeted_object": "wxyz",
|
| 63 |
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"retargeted_robot": "wxyz"
|
| 64 |
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},
|
| 65 |
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|
| 66 |
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|
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|
| 68 |
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|
| 70 |
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|
| 71 |
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|
| 73 |
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],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"right_thumb_MCP_AA",
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"right_middle_PIP",
|
| 87 |
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"right_middle_DIP",
|
| 88 |
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"right_ring_MCP_FE",
|
| 89 |
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"right_ring_MCP_AA",
|
| 90 |
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"right_ring_PIP",
|
| 91 |
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"right_ring_DIP",
|
| 92 |
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"right_pinky_CMC",
|
| 93 |
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"right_pinky_MCP_FE",
|
| 94 |
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"right_pinky_MCP_AA",
|
| 95 |
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|
| 96 |
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|
| 97 |
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],
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| 98 |
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"joint_position_indices": [
|
| 99 |
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|
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|
| 123 |
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|
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|
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|
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|
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|
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|
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|
| 130 |
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|
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| 133 |
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| 134 |
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|
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|
| 136 |
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|
| 137 |
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|
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|
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|
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|
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|
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|
| 172 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
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|
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"path": "retargeted_moving28_60fps.h5",
|
| 179 |
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|
| 180 |
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|
| 182 |
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"path": "canonical_retarget.h5",
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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| 188 |
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|
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|
| 190 |
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"units": "m"
|
| 191 |
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}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_01/stage2_handoff.json
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"canonical_retarget_h5": {
|
| 4 |
+
"relative_path": "stage2/canonical_retarget.h5",
|
| 5 |
+
"sha256": "cfd97555fd68dba015a2aba1dd3995d794f367b78e0174d3ddfbe77cb29d3ae3",
|
| 6 |
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"size_bytes": 1041160
|
| 7 |
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|
| 8 |
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"human_demo_60hz_h5": {
|
| 9 |
+
"relative_path": "stage2/human_demo_60hz.h5",
|
| 10 |
+
"sha256": "1cca3be892f9a1af4f15aa4a623ecaf0b75d77b43b54c8187ed5c0d9dab2a939",
|
| 11 |
+
"size_bytes": 508360
|
| 12 |
+
},
|
| 13 |
+
"moving28_h5": {
|
| 14 |
+
"relative_path": "stage2/retargeted_moving28_60fps.h5",
|
| 15 |
+
"sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6",
|
| 16 |
+
"size_bytes": 1045856
|
| 17 |
+
},
|
| 18 |
+
"reference_manifest": {
|
| 19 |
+
"relative_path": "stage2/reference_manifest.json",
|
| 20 |
+
"sha256": "62c47cf2d95890d00a8e29e763ee3ba89d664fabe046ada0b69dcfedc4e0d4ae",
|
| 21 |
+
"size_bytes": 4425
|
| 22 |
+
},
|
| 23 |
+
"review_video": {
|
| 24 |
+
"relative_path": "qa/stage1_stage2_2x3.mp4",
|
| 25 |
+
"sha256": "b5166adefe1dcd25230b1571271cf7ff0f8bd17b26219e8e826c6b86d4b49fdd",
|
| 26 |
+
"size_bytes": 16092632
|
| 27 |
+
},
|
| 28 |
+
"stage1_manifest": {
|
| 29 |
+
"relative_path": "inputs/stage1.manifest.json",
|
| 30 |
+
"sha256": "065eb963765c335fee7a5f4ca000ff508526c43f81926a59ecde786f37149ccf",
|
| 31 |
+
"size_bytes": 2449
|
| 32 |
+
},
|
| 33 |
+
"stage1_npz": {
|
| 34 |
+
"relative_path": "inputs/stage1.npz",
|
| 35 |
+
"sha256": "ad917592ee69a2214e31ebc4ed316ad6a4ddaf3be712d7a61c17bca5b12c908e",
|
| 36 |
+
"size_bytes": 15357686
|
| 37 |
+
},
|
| 38 |
+
"validation_receipt": {
|
| 39 |
+
"relative_path": "qa/stage2_validation.json",
|
| 40 |
+
"sha256": "c2fb7a1e73949309077e98a24a07d7463617b7982a6a3dbb99493ab8b901643a",
|
| 41 |
+
"size_bytes": 3890
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"dimensions": {
|
| 45 |
+
"action_dim": 28,
|
| 46 |
+
"finger_dof": 22,
|
| 47 |
+
"root_dof": 6
|
| 48 |
+
},
|
| 49 |
+
"episode_id": "phone_01",
|
| 50 |
+
"object_name": "phone",
|
| 51 |
+
"provenance": {
|
| 52 |
+
"git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
|
| 53 |
+
"git_dirty": false
|
| 54 |
+
},
|
| 55 |
+
"repair": {
|
| 56 |
+
"nonpenetration": "PASS",
|
| 57 |
+
"qa_status": "ACCEPTED",
|
| 58 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 59 |
+
"solver": "ClarabelSolver"
|
| 60 |
+
},
|
| 61 |
+
"schema": "reorientation_sharpa_stage2_handoff_v1",
|
| 62 |
+
"status": "STAGE2_HANDOFF_ACCEPTED",
|
| 63 |
+
"timeline": {
|
| 64 |
+
"frames": 781,
|
| 65 |
+
"policy_hz": 30.0,
|
| 66 |
+
"source_hz": 60.0
|
| 67 |
+
}
|
| 68 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_fields": [
|
| 3 |
+
"evaluation_reference_h5_sha256"
|
| 4 |
+
],
|
| 5 |
+
"child_sha256": "9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea",
|
| 6 |
+
"evaluation_reference_h5_sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
|
| 7 |
+
"parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
|
| 8 |
+
"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
+
"semantic_equivalence": true
|
| 10 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drop_detection": {
|
| 3 |
+
"detector": "wrist_object_distance_m",
|
| 4 |
+
"observability": "required_live_pose",
|
| 5 |
+
"threshold_m": 0.15
|
| 6 |
+
},
|
| 7 |
+
"evaluation_reference_h5_sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
|
| 8 |
+
"goal_exemplars": [
|
| 9 |
+
{
|
| 10 |
+
"id": "phone_01",
|
| 11 |
+
"phone_in_wrist_pose_wxyz": [
|
| 12 |
+
0.04497496687500502,
|
| 13 |
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0.031092940773731953,
|
| 14 |
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0.10514462356554327,
|
| 15 |
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0.18347857989940888,
|
| 16 |
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0.7320197472069027,
|
| 17 |
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0.24928085199129213,
|
| 18 |
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0.6069116552248229
|
| 19 |
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],
|
| 20 |
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"source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
|
| 21 |
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"stable_window_end_s": 13,
|
| 22 |
+
"stable_window_start_s": 12
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"id": "phone_02",
|
| 26 |
+
"phone_in_wrist_pose_wxyz": [
|
| 27 |
+
0.04681787462515056,
|
| 28 |
+
0.03183333037556811,
|
| 29 |
+
0.09926507128878602,
|
| 30 |
+
0.2258363963836322,
|
| 31 |
+
0.7176556957423054,
|
| 32 |
+
0.2100871076302479,
|
| 33 |
+
0.6243649827181528
|
| 34 |
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],
|
| 35 |
+
"source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
|
| 36 |
+
"stable_window_end_s": 10.58333,
|
| 37 |
+
"stable_window_start_s": 9.583333
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"id": "phone_03",
|
| 41 |
+
"phone_in_wrist_pose_wxyz": [
|
| 42 |
+
0.042993544172995224,
|
| 43 |
+
0.026394372547997282,
|
| 44 |
+
0.11310086642605308,
|
| 45 |
+
0.2989591556842424,
|
| 46 |
+
0.6785422292252308,
|
| 47 |
+
0.21132367040699318,
|
| 48 |
+
0.636825072305053
|
| 49 |
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],
|
| 50 |
+
"source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
|
| 51 |
+
"stable_window_end_s": 13.1,
|
| 52 |
+
"stable_window_start_s": 12.1
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"id": "phone_04",
|
| 56 |
+
"phone_in_wrist_pose_wxyz": [
|
| 57 |
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0.04203459714254923,
|
| 58 |
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0.03591273429334814,
|
| 59 |
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0.0978112235645566,
|
| 60 |
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0.1053596921578995,
|
| 61 |
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0.7137527196746393,
|
| 62 |
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0.2787498454052086,
|
| 63 |
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0.6338413950761033
|
| 64 |
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],
|
| 65 |
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"source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
|
| 66 |
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"stable_window_end_s": 11.58333,
|
| 67 |
+
"stable_window_start_s": 10.58333
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"id": "phone_05",
|
| 71 |
+
"phone_in_wrist_pose_wxyz": [
|
| 72 |
+
0.041006305548787335,
|
| 73 |
+
0.027437818730328627,
|
| 74 |
+
0.1121336988247133,
|
| 75 |
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0.20876300782401547,
|
| 76 |
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0.699793109556475,
|
| 77 |
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0.2886988847626664,
|
| 78 |
+
0.6191611779806145
|
| 79 |
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],
|
| 80 |
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"source_demo_sha256": "42e65d8367e2c5f8217272d569dddc3bdfd248d156e2d4657ea70a3fad093972",
|
| 81 |
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"stable_window_end_s": 11.03333,
|
| 82 |
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"stable_window_start_s": 10.03333
|
| 83 |
+
},
|
| 84 |
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{
|
| 85 |
+
"id": "phone_06",
|
| 86 |
+
"phone_in_wrist_pose_wxyz": [
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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0.21465128708083678,
|
| 91 |
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0.7211224440987967,
|
| 92 |
+
0.16701969270383124,
|
| 93 |
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|
| 94 |
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],
|
| 95 |
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"source_demo_sha256": "cae25992e1b683f669b97b29177e85bf35f124cd5a1907021ec9b192e69a1ea5",
|
| 96 |
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"stable_window_end_s": 15.3,
|
| 97 |
+
"stable_window_start_s": 14.3
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"id": "phone_07",
|
| 101 |
+
"phone_in_wrist_pose_wxyz": [
|
| 102 |
+
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|
| 103 |
+
0.024560718960261057,
|
| 104 |
+
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|
| 105 |
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0.09899271094178902,
|
| 106 |
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0.7313834731601216,
|
| 107 |
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|
| 108 |
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|
| 109 |
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],
|
| 110 |
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"source_demo_sha256": "97867a2be220cd7fe674ff6cba05f7668abe34e20b31529d5b7a1b86b76ff404",
|
| 111 |
+
"stable_window_end_s": 12,
|
| 112 |
+
"stable_window_start_s": 11
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"id": "phone_08",
|
| 116 |
+
"phone_in_wrist_pose_wxyz": [
|
| 117 |
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0.044034256317957224,
|
| 118 |
+
0.03207178397464634,
|
| 119 |
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0.10486853736373501,
|
| 120 |
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0.20581252882660386,
|
| 121 |
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0.6727610076442787,
|
| 122 |
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0.18850911825210967,
|
| 123 |
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|
| 124 |
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],
|
| 125 |
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"source_demo_sha256": "3bf1f2d27c22e80bdffbbdad54eb796b088b9c053639af8f656a608b062b25d0",
|
| 126 |
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|
| 127 |
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"stable_window_start_s": 20.63333
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"id": "phone_09",
|
| 131 |
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"phone_in_wrist_pose_wxyz": [
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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],
|
| 140 |
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"source_demo_sha256": "2b1c92155e1a9597d3b7ae1f6c1ea16583d01dd7e9aa438271ae173b39692d56",
|
| 141 |
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"stable_window_end_s": 17.1,
|
| 142 |
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"stable_window_start_s": 16.1
|
| 143 |
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},
|
| 144 |
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{
|
| 145 |
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"id": "phone_10",
|
| 146 |
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"phone_in_wrist_pose_wxyz": [
|
| 147 |
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|
| 148 |
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0.021469648631921696,
|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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0.6710337216873409
|
| 154 |
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],
|
| 155 |
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"source_demo_sha256": "f67e03bbeee152d2efb2626c108698e6b868a01b3263a7a5125f519909b4d821",
|
| 156 |
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"stable_window_end_s": 17.08333,
|
| 157 |
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"stable_window_start_s": 16.08333
|
| 158 |
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},
|
| 159 |
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{
|
| 160 |
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"id": "phone_11",
|
| 161 |
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"phone_in_wrist_pose_wxyz": [
|
| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"stable_window_end_s": 13.45,
|
| 172 |
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"stable_window_start_s": 12.45
|
| 173 |
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},
|
| 174 |
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{
|
| 175 |
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"id": "phone_12",
|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"stable_window_start_s": 16.21667
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"id": "phone_13",
|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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"source_demo_sha256": "aba431290d98dd244918b6b312c6751d5a7298dee961ba4491df549ffabb2087",
|
| 201 |
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|
| 202 |
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"stable_window_start_s": 13.01667
|
| 203 |
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},
|
| 204 |
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{
|
| 205 |
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"id": "phone_14",
|
| 206 |
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"phone_in_wrist_pose_wxyz": [
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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"stable_window_start_s": 11.68333
|
| 218 |
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},
|
| 219 |
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{
|
| 220 |
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"id": "phone_15",
|
| 221 |
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"phone_in_wrist_pose_wxyz": [
|
| 222 |
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|
| 223 |
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0.024211974898956927,
|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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"source_demo_sha256": "bbadeadfb144dd5e8996844af97039ac3191bce7512e2263189cf133ec386de9",
|
| 231 |
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"stable_window_end_s": 12.25,
|
| 232 |
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"stable_window_start_s": 11.25
|
| 233 |
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},
|
| 234 |
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{
|
| 235 |
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"id": "phone_16",
|
| 236 |
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"phone_in_wrist_pose_wxyz": [
|
| 237 |
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|
| 238 |
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0.021211510709724435,
|
| 239 |
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0.10783320331638926,
|
| 240 |
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0.15191605967824007,
|
| 241 |
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0.7069958486749522,
|
| 242 |
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0.17541590787024777,
|
| 243 |
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0.6680626018826965
|
| 244 |
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],
|
| 245 |
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"source_demo_sha256": "67abc8519de4c37734f94879d79ac10b535d82db57e1d9e2a8f5d8dc82eda2b8",
|
| 246 |
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"stable_window_end_s": 13.95,
|
| 247 |
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"stable_window_start_s": 12.95
|
| 248 |
+
},
|
| 249 |
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{
|
| 250 |
+
"id": "phone_17",
|
| 251 |
+
"phone_in_wrist_pose_wxyz": [
|
| 252 |
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0.04438943936514513,
|
| 253 |
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0.024921070169305316,
|
| 254 |
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0.0958906981164899,
|
| 255 |
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0.1253067875928184,
|
| 256 |
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0.7348681356848489,
|
| 257 |
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0.20903948059264638,
|
| 258 |
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0.6329056230527578
|
| 259 |
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],
|
| 260 |
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"source_demo_sha256": "abb09ae5b3b39eadf7ed0d25229aac119b2137d003c587dcd86de28d15423efc",
|
| 261 |
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"stable_window_end_s": 13.16667,
|
| 262 |
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"stable_window_start_s": 12.16667
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
+
"id": "phone_18",
|
| 266 |
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"phone_in_wrist_pose_wxyz": [
|
| 267 |
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0.04215868931246264,
|
| 268 |
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0.02922544020900463,
|
| 269 |
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0.10997688428279144,
|
| 270 |
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0.2644560664904675,
|
| 271 |
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0.675484271916621,
|
| 272 |
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0.16748194371875239,
|
| 273 |
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0.667632972386663
|
| 274 |
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],
|
| 275 |
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"source_demo_sha256": "ec46ad139b52c664ef4c7ca4c35485bf539ddb4c080547b0bbc617189989db1f",
|
| 276 |
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"stable_window_end_s": 16.01667,
|
| 277 |
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"stable_window_start_s": 15.01667
|
| 278 |
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},
|
| 279 |
+
{
|
| 280 |
+
"id": "phone_19",
|
| 281 |
+
"phone_in_wrist_pose_wxyz": [
|
| 282 |
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0.0500052742803781,
|
| 283 |
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0.029015203792821576,
|
| 284 |
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0.09406593838613851,
|
| 285 |
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0.1294320930642176,
|
| 286 |
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0.7166413676175086,
|
| 287 |
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0.19312812566391516,
|
| 288 |
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0.6575515269405626
|
| 289 |
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],
|
| 290 |
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"source_demo_sha256": "33a9c959d2301f7414112b9d8512ff709a1beac7a5f0d662969c71ef92cb53e2",
|
| 291 |
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"stable_window_end_s": 15,
|
| 292 |
+
"stable_window_start_s": 14
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"id": "phone_20",
|
| 296 |
+
"phone_in_wrist_pose_wxyz": [
|
| 297 |
+
0.04638415913847929,
|
| 298 |
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0.02245202101954502,
|
| 299 |
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0.09215099516581593,
|
| 300 |
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0.11991907663143349,
|
| 301 |
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0.7368239695297542,
|
| 302 |
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0.16676188570734887,
|
| 303 |
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0.6441275700213502
|
| 304 |
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],
|
| 305 |
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"source_demo_sha256": "4aed9c16db87f146ab8905ee7138ec414db728577856ddf757023152413e336b",
|
| 306 |
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"stable_window_end_s": 14.18333,
|
| 307 |
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"stable_window_start_s": 13.18333
|
| 308 |
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}
|
| 309 |
+
],
|
| 310 |
+
"hold_duration_s": 0.5,
|
| 311 |
+
"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
+
"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
+
"thresholds": {
|
| 314 |
+
"goal_orientation_deg": 3,
|
| 315 |
+
"goal_position_m": 0.003,
|
| 316 |
+
"hold_rotation_slip_deg": 5,
|
| 317 |
+
"hold_translation_slip_m": 0.005,
|
| 318 |
+
"penetration_tolerance_m": 0.001
|
| 319 |
+
},
|
| 320 |
+
"vlm_judge": {
|
| 321 |
+
"enabled": false,
|
| 322 |
+
"mode": "advisory"
|
| 323 |
+
},
|
| 324 |
+
"workspace_lower_m": [
|
| 325 |
+
-0.25,
|
| 326 |
+
-0.25,
|
| 327 |
+
-0.25
|
| 328 |
+
],
|
| 329 |
+
"workspace_upper_m": [
|
| 330 |
+
0.25,
|
| 331 |
+
0.25,
|
| 332 |
+
0.25
|
| 333 |
+
]
|
| 334 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/continuity_jointlimit_report.json
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"continuity_preserved": true,
|
| 4 |
+
"finite": true,
|
| 5 |
+
"joint_limits": true,
|
| 6 |
+
"joint_names_order": true,
|
| 7 |
+
"pip_dip_coupling": true,
|
| 8 |
+
"quaternion_unit": true,
|
| 9 |
+
"repair_submillimeter": true,
|
| 10 |
+
"timestamps_60hz_strict": true
|
| 11 |
+
},
|
| 12 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 13 |
+
"max_joint_step_rad": 0.025097207629783597,
|
| 14 |
+
"max_root_repair_delta_m": 0.0,
|
| 15 |
+
"max_root_rotation_step_rad": 0.03132202697401446,
|
| 16 |
+
"max_root_translation_step_child_m": 0.0019005230455298623,
|
| 17 |
+
"max_root_translation_step_parent_m": 0.0019005230455298623,
|
| 18 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 19 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/materialization_receipt.json
ADDED
|
@@ -0,0 +1,67 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"allowed_changes": [
|
| 3 |
+
"robot_pos",
|
| 4 |
+
"robot_quat",
|
| 5 |
+
"robot_keypoints"
|
| 6 |
+
],
|
| 7 |
+
"child_sha256": {
|
| 8 |
+
"canonical_retarget_h5": "6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6",
|
| 9 |
+
"moving28_h5": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717"
|
| 10 |
+
},
|
| 11 |
+
"gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
|
| 12 |
+
"immutable_dataset_fingerprints_after": {
|
| 13 |
+
"mano_joint_coords": "cedbdfa33865fede4e923514375cf2a14789fe65e77a9c10465a06799ecd37aa",
|
| 14 |
+
"object_pos": "b3910d961cce2728db26f45a7ad68d492391eacf332865b9d7e92c1919cd5aec",
|
| 15 |
+
"object_quat": "08fcd7493ee6e4bbf38e4d4954fb6786cd8129d17db10c9071f539d352e59330",
|
| 16 |
+
"phase": "24f0d39142180232476e3a889da693561ec224220e8c34c3e37ecc0d3aa2f83c",
|
| 17 |
+
"robot_joints": "1b788e2aca00eab35825d67209ffd42fa8409503fd1c8bdf864581335f4cea6d",
|
| 18 |
+
"timestamps_s": "40e885d894142cf19da9835024314549004788b363f3aa263ec0241fa955ed5c"
|
| 19 |
+
},
|
| 20 |
+
"immutable_dataset_fingerprints_before": {
|
| 21 |
+
"mano_joint_coords": "cedbdfa33865fede4e923514375cf2a14789fe65e77a9c10465a06799ecd37aa",
|
| 22 |
+
"object_pos": "b3910d961cce2728db26f45a7ad68d492391eacf332865b9d7e92c1919cd5aec",
|
| 23 |
+
"object_quat": "08fcd7493ee6e4bbf38e4d4954fb6786cd8129d17db10c9071f539d352e59330",
|
| 24 |
+
"phase": "24f0d39142180232476e3a889da693561ec224220e8c34c3e37ecc0d3aa2f83c",
|
| 25 |
+
"robot_joints": "1b788e2aca00eab35825d67209ffd42fa8409503fd1c8bdf864581335f4cea6d",
|
| 26 |
+
"timestamps_s": "40e885d894142cf19da9835024314549004788b363f3aa263ec0241fa955ed5c"
|
| 27 |
+
},
|
| 28 |
+
"parent_sha256": {
|
| 29 |
+
"canonical_retarget_h5": "473ff16c877933de5ba1483686c563dd7d49a1758188bc38e988f064ca647a78",
|
| 30 |
+
"moving28_h5": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717"
|
| 31 |
+
},
|
| 32 |
+
"repair": {
|
| 33 |
+
"changed_frame_count": 0,
|
| 34 |
+
"changed_frames": [],
|
| 35 |
+
"frame_count": 636,
|
| 36 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 37 |
+
"max_penetration_depth_m": 0.0010000114431546712,
|
| 38 |
+
"max_rotation_delta_deg": 0.0,
|
| 39 |
+
"max_translation_delta_m": 0.0,
|
| 40 |
+
"max_violation_m": 1.1443154671227085e-08,
|
| 41 |
+
"numerical_epsilon_m": 2e-06,
|
| 42 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 43 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 44 |
+
"steps": [],
|
| 45 |
+
"tolerance_m": 0.001,
|
| 46 |
+
"violating_frame_count": 0,
|
| 47 |
+
"violating_frames": [],
|
| 48 |
+
"worst_depth": {
|
| 49 |
+
"depth_m": 0.0010000114431546712,
|
| 50 |
+
"frame": 228,
|
| 51 |
+
"geometry_names": [
|
| 52 |
+
"right_sharpa_wave::Mesh",
|
| 53 |
+
"phone::Mesh_1"
|
| 54 |
+
]
|
| 55 |
+
},
|
| 56 |
+
"worst_violation_pairs": []
|
| 57 |
+
},
|
| 58 |
+
"schema": "sharpa_t0147_aligned_stage2_materialization_receipt_v1",
|
| 59 |
+
"unchanged_datasets": {
|
| 60 |
+
"mano_joint_coords": true,
|
| 61 |
+
"object_pos": true,
|
| 62 |
+
"object_quat": true,
|
| 63 |
+
"phase": true,
|
| 64 |
+
"robot_joints": true,
|
| 65 |
+
"timestamps_s": true
|
| 66 |
+
}
|
| 67 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/nonpenetration_report.json
ADDED
|
@@ -0,0 +1,26 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_frame_count": 0,
|
| 3 |
+
"changed_frames": [],
|
| 4 |
+
"frame_count": 636,
|
| 5 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 6 |
+
"max_penetration_depth_m": 0.0010000114431546712,
|
| 7 |
+
"max_rotation_delta_deg": 0.0,
|
| 8 |
+
"max_translation_delta_m": 0.0,
|
| 9 |
+
"max_violation_m": 1.1443154671227085e-08,
|
| 10 |
+
"numerical_epsilon_m": 2e-06,
|
| 11 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 12 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 13 |
+
"steps": [],
|
| 14 |
+
"tolerance_m": 0.001,
|
| 15 |
+
"violating_frame_count": 0,
|
| 16 |
+
"violating_frames": [],
|
| 17 |
+
"worst_depth": {
|
| 18 |
+
"depth_m": 0.0010000114431546712,
|
| 19 |
+
"frame": 228,
|
| 20 |
+
"geometry_names": [
|
| 21 |
+
"right_sharpa_wave::Mesh",
|
| 22 |
+
"phone::Mesh_1"
|
| 23 |
+
]
|
| 24 |
+
},
|
| 25 |
+
"worst_violation_pairs": []
|
| 26 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/path_audit.json
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_id": "phone_02",
|
| 3 |
+
"gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
|
| 4 |
+
"historical_absolute_provenance_ignored": true,
|
| 5 |
+
"resolved_artifacts": {
|
| 6 |
+
"canonical_retarget_h5": "phone_02/stage2/canonical_retarget.h5",
|
| 7 |
+
"human_demo_60hz_h5": "phone_02/stage2/human_demo_60hz.h5",
|
| 8 |
+
"moving28_h5": "phone_02/stage2/retargeted_moving28_60fps.h5",
|
| 9 |
+
"reference_manifest": "phone_02/stage2/reference_manifest.json",
|
| 10 |
+
"review_video": "phone_02/qa/stage1_stage2_2x3.mp4",
|
| 11 |
+
"stage1_manifest": "phone_02/inputs/stage1.manifest.json",
|
| 12 |
+
"stage1_npz": "phone_02/inputs/stage1.npz",
|
| 13 |
+
"validation_receipt": "phone_02/qa/stage2_validation.json"
|
| 14 |
+
},
|
| 15 |
+
"schema": "sharpa_stage2_release_clone_local_path_audit_v1",
|
| 16 |
+
"symlink_count": 0
|
| 17 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/qa/stage2_validation.json
ADDED
|
@@ -0,0 +1,109 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"canonical_source_derived": true,
|
| 4 |
+
"clone_local_paths": true,
|
| 5 |
+
"frame_count_and_60hz": true,
|
| 6 |
+
"hard_nonpenetration_measured": true,
|
| 7 |
+
"joint_names_order_and_limits": true,
|
| 8 |
+
"moving28_immutable_arrays_preserved": true,
|
| 9 |
+
"moving28_parent_hash_bound": true,
|
| 10 |
+
"pip_dip_coupling": true,
|
| 11 |
+
"quaternion_finite_unit": true,
|
| 12 |
+
"review_video_parent_submillimeter_equivalence": true,
|
| 13 |
+
"root_continuity": true
|
| 14 |
+
},
|
| 15 |
+
"continuity_jointlimit": {
|
| 16 |
+
"checks": {
|
| 17 |
+
"continuity_preserved": true,
|
| 18 |
+
"finite": true,
|
| 19 |
+
"joint_limits": true,
|
| 20 |
+
"joint_names_order": true,
|
| 21 |
+
"pip_dip_coupling": true,
|
| 22 |
+
"quaternion_unit": true,
|
| 23 |
+
"repair_submillimeter": true,
|
| 24 |
+
"timestamps_60hz_strict": true
|
| 25 |
+
},
|
| 26 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 27 |
+
"max_joint_step_rad": 0.025097207629783597,
|
| 28 |
+
"max_root_repair_delta_m": 0.0,
|
| 29 |
+
"max_root_rotation_step_rad": 0.03132202697401446,
|
| 30 |
+
"max_root_translation_step_child_m": 0.0019005230455298623,
|
| 31 |
+
"max_root_translation_step_parent_m": 0.0019005230455298623,
|
| 32 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 33 |
+
},
|
| 34 |
+
"gate": "ACTUATOR_PARITY_STAGE2_INPUT_PASS",
|
| 35 |
+
"penetration_audit": {
|
| 36 |
+
"changed_frame_count": 0,
|
| 37 |
+
"changed_frames": [],
|
| 38 |
+
"frame_count": 636,
|
| 39 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 40 |
+
"max_penetration_depth_m": 0.0010000114431546712,
|
| 41 |
+
"max_rotation_delta_deg": 0.0,
|
| 42 |
+
"max_translation_delta_m": 0.0,
|
| 43 |
+
"max_violation_m": 1.1443154671227085e-08,
|
| 44 |
+
"numerical_epsilon_m": 2e-06,
|
| 45 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 46 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 47 |
+
"steps": [],
|
| 48 |
+
"tolerance_m": 0.001,
|
| 49 |
+
"violating_frame_count": 0,
|
| 50 |
+
"violating_frames": [],
|
| 51 |
+
"worst_depth": {
|
| 52 |
+
"depth_m": 0.0010000114431546712,
|
| 53 |
+
"frame": 228,
|
| 54 |
+
"geometry_names": [
|
| 55 |
+
"right_sharpa_wave::Mesh",
|
| 56 |
+
"phone::Mesh_1"
|
| 57 |
+
]
|
| 58 |
+
},
|
| 59 |
+
"worst_violation_pairs": []
|
| 60 |
+
},
|
| 61 |
+
"required_qa": {
|
| 62 |
+
"action_dim": 28,
|
| 63 |
+
"continuity": true,
|
| 64 |
+
"finger_dof": 22,
|
| 65 |
+
"hard_nonpenetration": true,
|
| 66 |
+
"kinematic_only": true,
|
| 67 |
+
"pip_dip_coupling": true,
|
| 68 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 69 |
+
"solver": "ClarabelSolver"
|
| 70 |
+
},
|
| 71 |
+
"review_video": {
|
| 72 |
+
"max_unrendered_root_translation_delta_m": 0.0,
|
| 73 |
+
"release_penetration_tolerance_m": 0.001,
|
| 74 |
+
"sha256": "48bea39d525cafbcfd7817159498406992cd134116c630a346df140c2821c58b",
|
| 75 |
+
"source": "T0-147-aligned parent render",
|
| 76 |
+
"user_accepted_submillimeter_equivalence": true
|
| 77 |
+
},
|
| 78 |
+
"schema": "sharpa_actuatorparity_stage2_input_validation_v1",
|
| 79 |
+
"training_h5": {
|
| 80 |
+
"frames": 636,
|
| 81 |
+
"joint_count": 22,
|
| 82 |
+
"joint_names": [
|
| 83 |
+
"right_thumb_CMC_FE",
|
| 84 |
+
"right_thumb_CMC_AA",
|
| 85 |
+
"right_thumb_MCP_FE",
|
| 86 |
+
"right_thumb_MCP_AA",
|
| 87 |
+
"right_thumb_IP",
|
| 88 |
+
"right_index_MCP_FE",
|
| 89 |
+
"right_index_MCP_AA",
|
| 90 |
+
"right_index_PIP",
|
| 91 |
+
"right_index_DIP",
|
| 92 |
+
"right_middle_MCP_FE",
|
| 93 |
+
"right_middle_MCP_AA",
|
| 94 |
+
"right_middle_PIP",
|
| 95 |
+
"right_middle_DIP",
|
| 96 |
+
"right_ring_MCP_FE",
|
| 97 |
+
"right_ring_MCP_AA",
|
| 98 |
+
"right_ring_PIP",
|
| 99 |
+
"right_ring_DIP",
|
| 100 |
+
"right_pinky_CMC",
|
| 101 |
+
"right_pinky_MCP_FE",
|
| 102 |
+
"right_pinky_MCP_AA",
|
| 103 |
+
"right_pinky_PIP",
|
| 104 |
+
"right_pinky_DIP"
|
| 105 |
+
],
|
| 106 |
+
"policy_action_dim": 28,
|
| 107 |
+
"sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717"
|
| 108 |
+
}
|
| 109 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/stage1/stage1.manifest.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"A": {
|
| 3 |
+
"definition": "first temporal-clean jointly-valid frame",
|
| 4 |
+
"frame": 0,
|
| 5 |
+
"index": 0,
|
| 6 |
+
"physics_stable_grasp_verified": false
|
| 7 |
+
},
|
| 8 |
+
"B": {
|
| 9 |
+
"definition": "last temporal-clean jointly-valid frame",
|
| 10 |
+
"frame": 635,
|
| 11 |
+
"functional_success_verified": false,
|
| 12 |
+
"index": 635
|
| 13 |
+
},
|
| 14 |
+
"artifact": {
|
| 15 |
+
"bytes": 12448030,
|
| 16 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/07_object_centric_human_demo/offset_retune_v5_20260811/phone_02_object_centric_v3_85fb99c20a8f.npz",
|
| 17 |
+
"read_only_mode": "0444",
|
| 18 |
+
"sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e"
|
| 19 |
+
},
|
| 20 |
+
"duration_s": 10.58333,
|
| 21 |
+
"episode_id": "phone_02",
|
| 22 |
+
"frames": 636,
|
| 23 |
+
"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
+
"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
+
"object_rigid_from_mesh": true,
|
| 28 |
+
"time_sync": false
|
| 29 |
+
},
|
| 30 |
+
"qa": {
|
| 31 |
+
"A_object_position_norm_m": 5.553824967135427e-17,
|
| 32 |
+
"A_object_rotation_matrix_max_abs_error": 3.3306690738754696e-15,
|
| 33 |
+
"phase_end": 1.0,
|
| 34 |
+
"phase_start": 0.0,
|
| 35 |
+
"phase_strictly_increasing": true,
|
| 36 |
+
"world_hand_joints_max_abs_error_m": 4.0939474033052647e-16,
|
| 37 |
+
"world_hand_pose_from_objectMeshA_max_abs_error": 3.219646771412954e-15,
|
| 38 |
+
"world_hand_pose_from_objectMesh_max_abs_error": 3.552713678800501e-15,
|
| 39 |
+
"world_mano_joints_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 40 |
+
"world_mano_vertices_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 41 |
+
"world_object_mesh_pose_max_abs_error": 3.552713678800501e-15
|
| 42 |
+
},
|
| 43 |
+
"recipe_id": "85fb99c20a8fc3b72fb210c87de0c47e0f44a986e9b27b9516bb92aa55e61cd7",
|
| 44 |
+
"recipe_version": "export_object_centric_human_demo_generic_v3",
|
| 45 |
+
"schema": "a2b_immutable_artifact_manifest_v1",
|
| 46 |
+
"sources": {
|
| 47 |
+
"corrected_artifact": {
|
| 48 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_02_corrected_world_v3_3948b81cdfd6.npz",
|
| 49 |
+
"sha256": "e91bf2eece27b8994666bfa6fef02b40f4935979e083c79370b0de5d55cdb613"
|
| 50 |
+
},
|
| 51 |
+
"corrected_manifest": {
|
| 52 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_02_corrected_world_v3_3948b81cdfd6.manifest.json",
|
| 53 |
+
"sha256": "cd45a0a375b0289da0bee81969ed92bbb3d1557c0ded248729bf77a8fd2e71c3"
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/stage2/reference_manifest.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"human_demo_60hz.h5": {
|
| 4 |
+
"bytes": 415560,
|
| 5 |
+
"path": "human_demo_60hz.h5",
|
| 6 |
+
"sha256": "d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589"
|
| 7 |
+
},
|
| 8 |
+
"retargeted_60fps.h5": {
|
| 9 |
+
"bytes": 849760,
|
| 10 |
+
"path": "retargeted_60fps.h5",
|
| 11 |
+
"sha256": "9e8bb81f9bb5af842d25da184c91be8e8d159b3d45375ac7caa7a482fd799208"
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
"canonical_world_frame": "gravity_aligned_isaac_world",
|
| 15 |
+
"episode_id": "phone_02",
|
| 16 |
+
"frame_count": 636,
|
| 17 |
+
"penetration_audit": {
|
| 18 |
+
"changed_frame_count": 0,
|
| 19 |
+
"changed_frames": [],
|
| 20 |
+
"frame_count": 636,
|
| 21 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 22 |
+
"max_penetration_depth_m": 0.0010000114431546712,
|
| 23 |
+
"max_rotation_delta_deg": 0.0,
|
| 24 |
+
"max_translation_delta_m": 0.0,
|
| 25 |
+
"max_violation_m": 1.1443154671227085e-08,
|
| 26 |
+
"numerical_epsilon_m": 2e-06,
|
| 27 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 28 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 29 |
+
"steps": [],
|
| 30 |
+
"tolerance_m": 0.001,
|
| 31 |
+
"violating_frame_count": 0,
|
| 32 |
+
"violating_frames": [],
|
| 33 |
+
"worst_depth": {
|
| 34 |
+
"depth_m": 0.0010000114431546712,
|
| 35 |
+
"frame": 228,
|
| 36 |
+
"geometry_names": [
|
| 37 |
+
"right_sharpa_wave::Mesh",
|
| 38 |
+
"phone::Mesh_1"
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"worst_violation_pairs": []
|
| 42 |
+
},
|
| 43 |
+
"quaternion_conventions": {
|
| 44 |
+
"human_object": "wxyz",
|
| 45 |
+
"human_wrist": "xyzw",
|
| 46 |
+
"retargeted_object": "wxyz",
|
| 47 |
+
"retargeted_robot": "wxyz"
|
| 48 |
+
},
|
| 49 |
+
"robot": {
|
| 50 |
+
"finger_dof": 22,
|
| 51 |
+
"fingertip_keypoint_indices": [
|
| 52 |
+
4,
|
| 53 |
+
8,
|
| 54 |
+
12,
|
| 55 |
+
16,
|
| 56 |
+
20
|
| 57 |
+
],
|
| 58 |
+
"joint_names": [
|
| 59 |
+
"right_thumb_CMC_FE",
|
| 60 |
+
"right_thumb_CMC_AA",
|
| 61 |
+
"right_thumb_MCP_FE",
|
| 62 |
+
"right_thumb_MCP_AA",
|
| 63 |
+
"right_thumb_IP",
|
| 64 |
+
"right_index_MCP_FE",
|
| 65 |
+
"right_index_MCP_AA",
|
| 66 |
+
"right_index_PIP",
|
| 67 |
+
"right_index_DIP",
|
| 68 |
+
"right_middle_MCP_FE",
|
| 69 |
+
"right_middle_MCP_AA",
|
| 70 |
+
"right_middle_PIP",
|
| 71 |
+
"right_middle_DIP",
|
| 72 |
+
"right_ring_MCP_FE",
|
| 73 |
+
"right_ring_MCP_AA",
|
| 74 |
+
"right_ring_PIP",
|
| 75 |
+
"right_ring_DIP",
|
| 76 |
+
"right_pinky_CMC",
|
| 77 |
+
"right_pinky_MCP_FE",
|
| 78 |
+
"right_pinky_MCP_AA",
|
| 79 |
+
"right_pinky_PIP",
|
| 80 |
+
"right_pinky_DIP"
|
| 81 |
+
],
|
| 82 |
+
"joint_position_indices": [
|
| 83 |
+
7,
|
| 84 |
+
8,
|
| 85 |
+
9,
|
| 86 |
+
10,
|
| 87 |
+
11,
|
| 88 |
+
12,
|
| 89 |
+
13,
|
| 90 |
+
14,
|
| 91 |
+
15,
|
| 92 |
+
16,
|
| 93 |
+
17,
|
| 94 |
+
18,
|
| 95 |
+
19,
|
| 96 |
+
20,
|
| 97 |
+
21,
|
| 98 |
+
22,
|
| 99 |
+
23,
|
| 100 |
+
24,
|
| 101 |
+
25,
|
| 102 |
+
26,
|
| 103 |
+
27,
|
| 104 |
+
28
|
| 105 |
+
],
|
| 106 |
+
"keypoint_names": [
|
| 107 |
+
"right_hand_C_MC",
|
| 108 |
+
"right_thumb_MC",
|
| 109 |
+
"right_thumb_PP",
|
| 110 |
+
"right_thumb_DP",
|
| 111 |
+
"right_thumb_fingertip",
|
| 112 |
+
"right_index_PP",
|
| 113 |
+
"right_index_MP",
|
| 114 |
+
"right_index_DP",
|
| 115 |
+
"right_index_fingertip",
|
| 116 |
+
"right_middle_PP",
|
| 117 |
+
"right_middle_MP",
|
| 118 |
+
"right_middle_DP",
|
| 119 |
+
"right_middle_fingertip",
|
| 120 |
+
"right_ring_PP",
|
| 121 |
+
"right_ring_MP",
|
| 122 |
+
"right_ring_DP",
|
| 123 |
+
"right_ring_fingertip",
|
| 124 |
+
"right_pinky_PP",
|
| 125 |
+
"right_pinky_MP",
|
| 126 |
+
"right_pinky_DP",
|
| 127 |
+
"right_pinky_fingertip"
|
| 128 |
+
],
|
| 129 |
+
"keypoint_source_indices": [
|
| 130 |
+
0,
|
| 131 |
+
13,
|
| 132 |
+
14,
|
| 133 |
+
15,
|
| 134 |
+
16,
|
| 135 |
+
1,
|
| 136 |
+
2,
|
| 137 |
+
3,
|
| 138 |
+
17,
|
| 139 |
+
4,
|
| 140 |
+
5,
|
| 141 |
+
6,
|
| 142 |
+
18,
|
| 143 |
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10,
|
| 144 |
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11,
|
| 145 |
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12,
|
| 146 |
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19,
|
| 147 |
+
7,
|
| 148 |
+
8,
|
| 149 |
+
9,
|
| 150 |
+
20
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
"schema": "reorientation_sharpa_wuji2_reference_manifest_v1",
|
| 154 |
+
"source_dt_s": 0.016666666666666666,
|
| 155 |
+
"source_hz": 60.0,
|
| 156 |
+
"sources": {
|
| 157 |
+
"human_h5": {
|
| 158 |
+
"path": "human_demo_60hz.h5",
|
| 159 |
+
"sha256": "d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589"
|
| 160 |
+
},
|
| 161 |
+
"moving28_h5": {
|
| 162 |
+
"path": "retargeted_moving28_60fps.h5",
|
| 163 |
+
"sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717"
|
| 164 |
+
},
|
| 165 |
+
"retarget_h5": {
|
| 166 |
+
"path": "canonical_retarget.h5",
|
| 167 |
+
"sha256": "6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6"
|
| 168 |
+
},
|
| 169 |
+
"source_npz": {
|
| 170 |
+
"path": "../inputs/stage1.npz",
|
| 171 |
+
"sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"units": "m"
|
| 175 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_02/stage2_handoff.json
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"canonical_retarget_h5": {
|
| 4 |
+
"relative_path": "stage2/canonical_retarget.h5",
|
| 5 |
+
"sha256": "6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6",
|
| 6 |
+
"size_bytes": 12153157
|
| 7 |
+
},
|
| 8 |
+
"human_demo_60hz_h5": {
|
| 9 |
+
"relative_path": "stage2/human_demo_60hz.h5",
|
| 10 |
+
"sha256": "d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589",
|
| 11 |
+
"size_bytes": 415560
|
| 12 |
+
},
|
| 13 |
+
"moving28_h5": {
|
| 14 |
+
"relative_path": "stage2/retargeted_moving28_60fps.h5",
|
| 15 |
+
"sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
|
| 16 |
+
"size_bytes": 12473701
|
| 17 |
+
},
|
| 18 |
+
"reference_manifest": {
|
| 19 |
+
"relative_path": "stage2/reference_manifest.json",
|
| 20 |
+
"sha256": "843c8cc6b638687472f9f194e53399c8532a2ab2c8b0f88f1e05eb8ab1eae65f",
|
| 21 |
+
"size_bytes": 4039
|
| 22 |
+
},
|
| 23 |
+
"review_video": {
|
| 24 |
+
"relative_path": "qa/stage1_stage2_2x3.mp4",
|
| 25 |
+
"sha256": "48bea39d525cafbcfd7817159498406992cd134116c630a346df140c2821c58b",
|
| 26 |
+
"size_bytes": 12521534
|
| 27 |
+
},
|
| 28 |
+
"stage1_manifest": {
|
| 29 |
+
"relative_path": "inputs/stage1.manifest.json",
|
| 30 |
+
"sha256": "bc9f812397b58201b84bdd50c4a261eb0ebef9d7ffe74dcefa7a910d8698fb6a",
|
| 31 |
+
"size_bytes": 2452
|
| 32 |
+
},
|
| 33 |
+
"stage1_npz": {
|
| 34 |
+
"relative_path": "inputs/stage1.npz",
|
| 35 |
+
"sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e",
|
| 36 |
+
"size_bytes": 12448030
|
| 37 |
+
},
|
| 38 |
+
"validation_receipt": {
|
| 39 |
+
"relative_path": "qa/stage2_validation.json",
|
| 40 |
+
"sha256": "a5a0484eda81480425ab7cede003dc6df162e38b39d0b77f3f92d9292b60521e",
|
| 41 |
+
"size_bytes": 3467
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"dimensions": {
|
| 45 |
+
"action_dim": 28,
|
| 46 |
+
"finger_dof": 22,
|
| 47 |
+
"root_dof": 6
|
| 48 |
+
},
|
| 49 |
+
"episode_id": "phone_02",
|
| 50 |
+
"object_name": "phone",
|
| 51 |
+
"provenance": {
|
| 52 |
+
"git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
|
| 53 |
+
"git_dirty": false
|
| 54 |
+
},
|
| 55 |
+
"repair": {
|
| 56 |
+
"nonpenetration": "PASS",
|
| 57 |
+
"qa_status": "ACCEPTED",
|
| 58 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 59 |
+
"solver": "ClarabelSolver"
|
| 60 |
+
},
|
| 61 |
+
"schema": "reorientation_sharpa_stage2_handoff_v1",
|
| 62 |
+
"status": "STAGE2_HANDOFF_ACCEPTED",
|
| 63 |
+
"timeline": {
|
| 64 |
+
"frames": 636,
|
| 65 |
+
"policy_hz": 30.0,
|
| 66 |
+
"source_hz": 60.0
|
| 67 |
+
}
|
| 68 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_fields": [
|
| 3 |
+
"evaluation_reference_h5_sha256"
|
| 4 |
+
],
|
| 5 |
+
"child_sha256": "b270e9294e45524f2c630220d6ebfad3c98a3732c5ef30ed54ca0cb23dcd9281",
|
| 6 |
+
"evaluation_reference_h5_sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898",
|
| 7 |
+
"parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
|
| 8 |
+
"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
+
"semantic_equivalence": true
|
| 10 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
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| 203 |
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|
| 218 |
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|
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| 230 |
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"source_demo_sha256": "bbadeadfb144dd5e8996844af97039ac3191bce7512e2263189cf133ec386de9",
|
| 231 |
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"stable_window_end_s": 12.25,
|
| 232 |
+
"stable_window_start_s": 11.25
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"id": "phone_16",
|
| 236 |
+
"phone_in_wrist_pose_wxyz": [
|
| 237 |
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0.0423454766319286,
|
| 238 |
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0.021211510709724435,
|
| 239 |
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0.10783320331638926,
|
| 240 |
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0.15191605967824007,
|
| 241 |
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0.7069958486749522,
|
| 242 |
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0.17541590787024777,
|
| 243 |
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0.6680626018826965
|
| 244 |
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],
|
| 245 |
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"source_demo_sha256": "67abc8519de4c37734f94879d79ac10b535d82db57e1d9e2a8f5d8dc82eda2b8",
|
| 246 |
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"stable_window_end_s": 13.95,
|
| 247 |
+
"stable_window_start_s": 12.95
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"id": "phone_17",
|
| 251 |
+
"phone_in_wrist_pose_wxyz": [
|
| 252 |
+
0.04438943936514513,
|
| 253 |
+
0.024921070169305316,
|
| 254 |
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0.0958906981164899,
|
| 255 |
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0.1253067875928184,
|
| 256 |
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0.7348681356848489,
|
| 257 |
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0.20903948059264638,
|
| 258 |
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0.6329056230527578
|
| 259 |
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],
|
| 260 |
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"source_demo_sha256": "abb09ae5b3b39eadf7ed0d25229aac119b2137d003c587dcd86de28d15423efc",
|
| 261 |
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"stable_window_end_s": 13.16667,
|
| 262 |
+
"stable_window_start_s": 12.16667
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"id": "phone_18",
|
| 266 |
+
"phone_in_wrist_pose_wxyz": [
|
| 267 |
+
0.04215868931246264,
|
| 268 |
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0.02922544020900463,
|
| 269 |
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0.10997688428279144,
|
| 270 |
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0.2644560664904675,
|
| 271 |
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0.675484271916621,
|
| 272 |
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0.16748194371875239,
|
| 273 |
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0.667632972386663
|
| 274 |
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],
|
| 275 |
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"source_demo_sha256": "ec46ad139b52c664ef4c7ca4c35485bf539ddb4c080547b0bbc617189989db1f",
|
| 276 |
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"stable_window_end_s": 16.01667,
|
| 277 |
+
"stable_window_start_s": 15.01667
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"id": "phone_19",
|
| 281 |
+
"phone_in_wrist_pose_wxyz": [
|
| 282 |
+
0.0500052742803781,
|
| 283 |
+
0.029015203792821576,
|
| 284 |
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0.09406593838613851,
|
| 285 |
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0.1294320930642176,
|
| 286 |
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0.7166413676175086,
|
| 287 |
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0.19312812566391516,
|
| 288 |
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|
| 289 |
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],
|
| 290 |
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"source_demo_sha256": "33a9c959d2301f7414112b9d8512ff709a1beac7a5f0d662969c71ef92cb53e2",
|
| 291 |
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"stable_window_end_s": 15,
|
| 292 |
+
"stable_window_start_s": 14
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"id": "phone_20",
|
| 296 |
+
"phone_in_wrist_pose_wxyz": [
|
| 297 |
+
0.04638415913847929,
|
| 298 |
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0.02245202101954502,
|
| 299 |
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0.09215099516581593,
|
| 300 |
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0.11991907663143349,
|
| 301 |
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0.7368239695297542,
|
| 302 |
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0.16676188570734887,
|
| 303 |
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0.6441275700213502
|
| 304 |
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],
|
| 305 |
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"source_demo_sha256": "4aed9c16db87f146ab8905ee7138ec414db728577856ddf757023152413e336b",
|
| 306 |
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"stable_window_end_s": 14.18333,
|
| 307 |
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"stable_window_start_s": 13.18333
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"hold_duration_s": 0.5,
|
| 311 |
+
"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
+
"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
+
"thresholds": {
|
| 314 |
+
"goal_orientation_deg": 3,
|
| 315 |
+
"goal_position_m": 0.003,
|
| 316 |
+
"hold_rotation_slip_deg": 5,
|
| 317 |
+
"hold_translation_slip_m": 0.005,
|
| 318 |
+
"penetration_tolerance_m": 0.001
|
| 319 |
+
},
|
| 320 |
+
"vlm_judge": {
|
| 321 |
+
"enabled": false,
|
| 322 |
+
"mode": "advisory"
|
| 323 |
+
},
|
| 324 |
+
"workspace_lower_m": [
|
| 325 |
+
-0.25,
|
| 326 |
+
-0.25,
|
| 327 |
+
-0.25
|
| 328 |
+
],
|
| 329 |
+
"workspace_upper_m": [
|
| 330 |
+
0.25,
|
| 331 |
+
0.25,
|
| 332 |
+
0.25
|
| 333 |
+
]
|
| 334 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/continuity_jointlimit_report.json
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"continuity_preserved": true,
|
| 4 |
+
"finite": true,
|
| 5 |
+
"joint_limits": true,
|
| 6 |
+
"joint_names_order": true,
|
| 7 |
+
"pip_dip_coupling": true,
|
| 8 |
+
"quaternion_unit": true,
|
| 9 |
+
"repair_submillimeter": true,
|
| 10 |
+
"timestamps_60hz_strict": true
|
| 11 |
+
},
|
| 12 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 13 |
+
"max_joint_step_rad": 0.10395931745494691,
|
| 14 |
+
"max_root_repair_delta_m": 3.774418845185109e-05,
|
| 15 |
+
"max_root_rotation_step_rad": 0.03690288993300187,
|
| 16 |
+
"max_root_translation_step_child_m": 0.003149127205927787,
|
| 17 |
+
"max_root_translation_step_parent_m": 0.003149127205927787,
|
| 18 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 19 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/materialization_receipt.json
ADDED
|
@@ -0,0 +1,111 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"allowed_changes": [
|
| 3 |
+
"robot_pos",
|
| 4 |
+
"robot_quat",
|
| 5 |
+
"robot_keypoints"
|
| 6 |
+
],
|
| 7 |
+
"child_sha256": {
|
| 8 |
+
"canonical_retarget_h5": "9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19",
|
| 9 |
+
"moving28_h5": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898"
|
| 10 |
+
},
|
| 11 |
+
"gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
|
| 12 |
+
"immutable_dataset_fingerprints_after": {
|
| 13 |
+
"mano_joint_coords": "e349ec3f992b324779a0f7d05afdbe93bd8aabae3af241293edcec7839ab8800",
|
| 14 |
+
"object_pos": "e9215766ba63de113b344a0a513022dda80350c05d79db76e7b6d38cfae5afde",
|
| 15 |
+
"object_quat": "593b50bdd750da9f7c68b1b3086ebc0194c86b85e0607aae4a76d94f5bb01a38",
|
| 16 |
+
"phase": "0aed9559d4e269c143270b26fe1d0cff0512d6745ec49d6f3cbec8d4734b1236",
|
| 17 |
+
"robot_joints": "9a2efdc3b881997edd8f8bf75218482042e37ed0bcc5a952c91e3c6d60bdc85b",
|
| 18 |
+
"timestamps_s": "4560fc0762d22a02aea49ed865f8112d1592e0cd20e414a387849548da918720"
|
| 19 |
+
},
|
| 20 |
+
"immutable_dataset_fingerprints_before": {
|
| 21 |
+
"mano_joint_coords": "e349ec3f992b324779a0f7d05afdbe93bd8aabae3af241293edcec7839ab8800",
|
| 22 |
+
"object_pos": "e9215766ba63de113b344a0a513022dda80350c05d79db76e7b6d38cfae5afde",
|
| 23 |
+
"object_quat": "593b50bdd750da9f7c68b1b3086ebc0194c86b85e0607aae4a76d94f5bb01a38",
|
| 24 |
+
"phase": "0aed9559d4e269c143270b26fe1d0cff0512d6745ec49d6f3cbec8d4734b1236",
|
| 25 |
+
"robot_joints": "9a2efdc3b881997edd8f8bf75218482042e37ed0bcc5a952c91e3c6d60bdc85b",
|
| 26 |
+
"timestamps_s": "4560fc0762d22a02aea49ed865f8112d1592e0cd20e414a387849548da918720"
|
| 27 |
+
},
|
| 28 |
+
"parent_sha256": {
|
| 29 |
+
"canonical_retarget_h5": "2b0107a660d314deb746f81d6ca0e89a98d22bb8ac1c1a88cfb373efcf712e83",
|
| 30 |
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"moving28_h5": "8421fb53c658ea1e3ddaf7b10b3e8338190e7dc9fd84a267835bf022b0d9b0f1"
|
| 31 |
+
},
|
| 32 |
+
"repair": {
|
| 33 |
+
"changed_frame_count": 3,
|
| 34 |
+
"changed_frames": [
|
| 35 |
+
453,
|
| 36 |
+
539,
|
| 37 |
+
540
|
| 38 |
+
],
|
| 39 |
+
"frame_count": 715,
|
| 40 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 41 |
+
"max_penetration_depth_m": 0.0010018200319766917,
|
| 42 |
+
"max_rotation_delta_deg": 0.0,
|
| 43 |
+
"max_translation_delta_m": 3.774418845185109e-05,
|
| 44 |
+
"max_violation_m": 1.8200319766917272e-06,
|
| 45 |
+
"numerical_epsilon_m": 2e-06,
|
| 46 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 47 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 48 |
+
"steps": [
|
| 49 |
+
{
|
| 50 |
+
"frame": 453,
|
| 51 |
+
"geometry_names": [
|
| 52 |
+
"right_sharpa_wave::Mesh",
|
| 53 |
+
"phone::Mesh_1"
|
| 54 |
+
],
|
| 55 |
+
"pre_repair_violation_m": 1.770735057518699e-05,
|
| 56 |
+
"robot_root_translation_delta_m": [
|
| 57 |
+
8.52032835595577e-06,
|
| 58 |
+
2.1044360400280634e-05,
|
| 59 |
+
4.0332393214533774e-07
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 539,
|
| 64 |
+
"geometry_names": [
|
| 65 |
+
"right_sharpa_wave::Mesh",
|
| 66 |
+
"phone::Mesh_1"
|
| 67 |
+
],
|
| 68 |
+
"pre_repair_violation_m": 3.274418845185256e-05,
|
| 69 |
+
"robot_root_translation_delta_m": [
|
| 70 |
+
1.173696006016145e-05,
|
| 71 |
+
3.5799794596387346e-05,
|
| 72 |
+
2.289593258989679e-06
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"frame": 540,
|
| 77 |
+
"geometry_names": [
|
| 78 |
+
"right_sharpa_wave::Mesh",
|
| 79 |
+
"phone::Mesh_1"
|
| 80 |
+
],
|
| 81 |
+
"pre_repair_violation_m": 5.108951371436904e-06,
|
| 82 |
+
"robot_root_translation_delta_m": [
|
| 83 |
+
3.153353233500279e-06,
|
| 84 |
+
9.585460166372303e-06,
|
| 85 |
+
6.051566852801654e-07
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"tolerance_m": 0.001,
|
| 90 |
+
"violating_frame_count": 0,
|
| 91 |
+
"violating_frames": [],
|
| 92 |
+
"worst_depth": {
|
| 93 |
+
"depth_m": 0.0010018200319766917,
|
| 94 |
+
"frame": 330,
|
| 95 |
+
"geometry_names": [
|
| 96 |
+
"right_sharpa_wave::Mesh",
|
| 97 |
+
"phone::Mesh_1"
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"worst_violation_pairs": []
|
| 101 |
+
},
|
| 102 |
+
"schema": "sharpa_t0147_aligned_stage2_materialization_receipt_v1",
|
| 103 |
+
"unchanged_datasets": {
|
| 104 |
+
"mano_joint_coords": true,
|
| 105 |
+
"object_pos": true,
|
| 106 |
+
"object_quat": true,
|
| 107 |
+
"phase": true,
|
| 108 |
+
"robot_joints": true,
|
| 109 |
+
"timestamps_s": true
|
| 110 |
+
}
|
| 111 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/nonpenetration_report.json
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_frame_count": 3,
|
| 3 |
+
"changed_frames": [
|
| 4 |
+
453,
|
| 5 |
+
539,
|
| 6 |
+
540
|
| 7 |
+
],
|
| 8 |
+
"frame_count": 715,
|
| 9 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 10 |
+
"max_penetration_depth_m": 0.0010018200319766917,
|
| 11 |
+
"max_rotation_delta_deg": 0.0,
|
| 12 |
+
"max_translation_delta_m": 3.774418845185109e-05,
|
| 13 |
+
"max_violation_m": 1.8200319766917272e-06,
|
| 14 |
+
"numerical_epsilon_m": 2e-06,
|
| 15 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 16 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 17 |
+
"steps": [
|
| 18 |
+
{
|
| 19 |
+
"frame": 453,
|
| 20 |
+
"geometry_names": [
|
| 21 |
+
"right_sharpa_wave::Mesh",
|
| 22 |
+
"phone::Mesh_1"
|
| 23 |
+
],
|
| 24 |
+
"pre_repair_violation_m": 1.770735057518699e-05,
|
| 25 |
+
"robot_root_translation_delta_m": [
|
| 26 |
+
8.52032835595577e-06,
|
| 27 |
+
2.1044360400280634e-05,
|
| 28 |
+
4.0332393214533774e-07
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"frame": 539,
|
| 33 |
+
"geometry_names": [
|
| 34 |
+
"right_sharpa_wave::Mesh",
|
| 35 |
+
"phone::Mesh_1"
|
| 36 |
+
],
|
| 37 |
+
"pre_repair_violation_m": 3.274418845185256e-05,
|
| 38 |
+
"robot_root_translation_delta_m": [
|
| 39 |
+
1.173696006016145e-05,
|
| 40 |
+
3.5799794596387346e-05,
|
| 41 |
+
2.289593258989679e-06
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"frame": 540,
|
| 46 |
+
"geometry_names": [
|
| 47 |
+
"right_sharpa_wave::Mesh",
|
| 48 |
+
"phone::Mesh_1"
|
| 49 |
+
],
|
| 50 |
+
"pre_repair_violation_m": 5.108951371436904e-06,
|
| 51 |
+
"robot_root_translation_delta_m": [
|
| 52 |
+
3.153353233500279e-06,
|
| 53 |
+
9.585460166372303e-06,
|
| 54 |
+
6.051566852801654e-07
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"tolerance_m": 0.001,
|
| 59 |
+
"violating_frame_count": 0,
|
| 60 |
+
"violating_frames": [],
|
| 61 |
+
"worst_depth": {
|
| 62 |
+
"depth_m": 0.0010018200319766917,
|
| 63 |
+
"frame": 330,
|
| 64 |
+
"geometry_names": [
|
| 65 |
+
"right_sharpa_wave::Mesh",
|
| 66 |
+
"phone::Mesh_1"
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"worst_violation_pairs": []
|
| 70 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/path_audit.json
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_id": "phone_03",
|
| 3 |
+
"gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
|
| 4 |
+
"historical_absolute_provenance_ignored": true,
|
| 5 |
+
"resolved_artifacts": {
|
| 6 |
+
"canonical_retarget_h5": "phone_03/stage2/canonical_retarget.h5",
|
| 7 |
+
"human_demo_60hz_h5": "phone_03/stage2/human_demo_60hz.h5",
|
| 8 |
+
"moving28_h5": "phone_03/stage2/retargeted_moving28_60fps.h5",
|
| 9 |
+
"reference_manifest": "phone_03/stage2/reference_manifest.json",
|
| 10 |
+
"review_video": "phone_03/qa/stage1_stage2_2x3.mp4",
|
| 11 |
+
"stage1_manifest": "phone_03/inputs/stage1.manifest.json",
|
| 12 |
+
"stage1_npz": "phone_03/inputs/stage1.npz",
|
| 13 |
+
"validation_receipt": "phone_03/qa/stage2_validation.json"
|
| 14 |
+
},
|
| 15 |
+
"schema": "sharpa_stage2_release_clone_local_path_audit_v1",
|
| 16 |
+
"symlink_count": 0
|
| 17 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/qa/stage2_validation.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"canonical_source_derived": true,
|
| 4 |
+
"clone_local_paths": true,
|
| 5 |
+
"frame_count_and_60hz": true,
|
| 6 |
+
"hard_nonpenetration_measured": true,
|
| 7 |
+
"joint_names_order_and_limits": true,
|
| 8 |
+
"moving28_immutable_arrays_preserved": true,
|
| 9 |
+
"moving28_parent_hash_bound": true,
|
| 10 |
+
"pip_dip_coupling": true,
|
| 11 |
+
"quaternion_finite_unit": true,
|
| 12 |
+
"review_video_parent_submillimeter_equivalence": true,
|
| 13 |
+
"root_continuity": true
|
| 14 |
+
},
|
| 15 |
+
"continuity_jointlimit": {
|
| 16 |
+
"checks": {
|
| 17 |
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"continuity_preserved": true,
|
| 18 |
+
"finite": true,
|
| 19 |
+
"joint_limits": true,
|
| 20 |
+
"joint_names_order": true,
|
| 21 |
+
"pip_dip_coupling": true,
|
| 22 |
+
"quaternion_unit": true,
|
| 23 |
+
"repair_submillimeter": true,
|
| 24 |
+
"timestamps_60hz_strict": true
|
| 25 |
+
},
|
| 26 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 27 |
+
"max_joint_step_rad": 0.10395931745494691,
|
| 28 |
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"max_root_repair_delta_m": 3.774418845185109e-05,
|
| 29 |
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"max_root_rotation_step_rad": 0.03690288993300187,
|
| 30 |
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"max_root_translation_step_child_m": 0.003149127205927787,
|
| 31 |
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"max_root_translation_step_parent_m": 0.003149127205927787,
|
| 32 |
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"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 33 |
+
},
|
| 34 |
+
"gate": "ACTUATOR_PARITY_STAGE2_INPUT_PASS",
|
| 35 |
+
"penetration_audit": {
|
| 36 |
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"changed_frame_count": 3,
|
| 37 |
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"changed_frames": [
|
| 38 |
+
453,
|
| 39 |
+
539,
|
| 40 |
+
540
|
| 41 |
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],
|
| 42 |
+
"frame_count": 715,
|
| 43 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 44 |
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"max_penetration_depth_m": 0.0010018200319766917,
|
| 45 |
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"max_rotation_delta_deg": 0.0,
|
| 46 |
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"max_translation_delta_m": 3.774418845185109e-05,
|
| 47 |
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"max_violation_m": 1.8200319766917272e-06,
|
| 48 |
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"numerical_epsilon_m": 2e-06,
|
| 49 |
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"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 50 |
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"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 51 |
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"steps": [
|
| 52 |
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{
|
| 53 |
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"frame": 453,
|
| 54 |
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"geometry_names": [
|
| 55 |
+
"right_sharpa_wave::Mesh",
|
| 56 |
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"phone::Mesh_1"
|
| 57 |
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],
|
| 58 |
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"pre_repair_violation_m": 1.770735057518699e-05,
|
| 59 |
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"robot_root_translation_delta_m": [
|
| 60 |
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8.52032835595577e-06,
|
| 61 |
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|
| 62 |
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4.0332393214533774e-07
|
| 63 |
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]
|
| 64 |
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},
|
| 65 |
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{
|
| 66 |
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"frame": 539,
|
| 67 |
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"geometry_names": [
|
| 68 |
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"right_sharpa_wave::Mesh",
|
| 69 |
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"phone::Mesh_1"
|
| 70 |
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],
|
| 71 |
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"pre_repair_violation_m": 3.274418845185256e-05,
|
| 72 |
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"robot_root_translation_delta_m": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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]
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"frame": 540,
|
| 80 |
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"geometry_names": [
|
| 81 |
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"right_sharpa_wave::Mesh",
|
| 82 |
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"phone::Mesh_1"
|
| 83 |
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],
|
| 84 |
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"pre_repair_violation_m": 5.108951371436904e-06,
|
| 85 |
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"robot_root_translation_delta_m": [
|
| 86 |
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|
| 87 |
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9.585460166372303e-06,
|
| 88 |
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6.051566852801654e-07
|
| 89 |
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]
|
| 90 |
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}
|
| 91 |
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],
|
| 92 |
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"tolerance_m": 0.001,
|
| 93 |
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"violating_frame_count": 0,
|
| 94 |
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"violating_frames": [],
|
| 95 |
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"worst_depth": {
|
| 96 |
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"depth_m": 0.0010018200319766917,
|
| 97 |
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"frame": 330,
|
| 98 |
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"geometry_names": [
|
| 99 |
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"right_sharpa_wave::Mesh",
|
| 100 |
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"phone::Mesh_1"
|
| 101 |
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]
|
| 102 |
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},
|
| 103 |
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"worst_violation_pairs": []
|
| 104 |
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},
|
| 105 |
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"required_qa": {
|
| 106 |
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"action_dim": 28,
|
| 107 |
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"continuity": true,
|
| 108 |
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"finger_dof": 22,
|
| 109 |
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"hard_nonpenetration": true,
|
| 110 |
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"kinematic_only": true,
|
| 111 |
+
"pip_dip_coupling": true,
|
| 112 |
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"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 113 |
+
"solver": "ClarabelSolver"
|
| 114 |
+
},
|
| 115 |
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"review_video": {
|
| 116 |
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"max_unrendered_root_translation_delta_m": 3.774418845185109e-05,
|
| 117 |
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"release_penetration_tolerance_m": 0.001,
|
| 118 |
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"sha256": "defb35b5167d176acfe6d28f69303abe9b0baefa8a548cac9443745b8198d9ba",
|
| 119 |
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"source": "T0-147-aligned parent render",
|
| 120 |
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"user_accepted_submillimeter_equivalence": true
|
| 121 |
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},
|
| 122 |
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"schema": "sharpa_actuatorparity_stage2_input_validation_v1",
|
| 123 |
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"training_h5": {
|
| 124 |
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"frames": 715,
|
| 125 |
+
"joint_count": 22,
|
| 126 |
+
"joint_names": [
|
| 127 |
+
"right_thumb_CMC_FE",
|
| 128 |
+
"right_thumb_CMC_AA",
|
| 129 |
+
"right_thumb_MCP_FE",
|
| 130 |
+
"right_thumb_MCP_AA",
|
| 131 |
+
"right_thumb_IP",
|
| 132 |
+
"right_index_MCP_FE",
|
| 133 |
+
"right_index_MCP_AA",
|
| 134 |
+
"right_index_PIP",
|
| 135 |
+
"right_index_DIP",
|
| 136 |
+
"right_middle_MCP_FE",
|
| 137 |
+
"right_middle_MCP_AA",
|
| 138 |
+
"right_middle_PIP",
|
| 139 |
+
"right_middle_DIP",
|
| 140 |
+
"right_ring_MCP_FE",
|
| 141 |
+
"right_ring_MCP_AA",
|
| 142 |
+
"right_ring_PIP",
|
| 143 |
+
"right_ring_DIP",
|
| 144 |
+
"right_pinky_CMC",
|
| 145 |
+
"right_pinky_MCP_FE",
|
| 146 |
+
"right_pinky_MCP_AA",
|
| 147 |
+
"right_pinky_PIP",
|
| 148 |
+
"right_pinky_DIP"
|
| 149 |
+
],
|
| 150 |
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"policy_action_dim": 28,
|
| 151 |
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"sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898"
|
| 152 |
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}
|
| 153 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/stage1/stage1.manifest.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"A": {
|
| 3 |
+
"definition": "first temporal-clean jointly-valid frame",
|
| 4 |
+
"frame": 72,
|
| 5 |
+
"index": 0,
|
| 6 |
+
"physics_stable_grasp_verified": false
|
| 7 |
+
},
|
| 8 |
+
"B": {
|
| 9 |
+
"definition": "last temporal-clean jointly-valid frame",
|
| 10 |
+
"frame": 786,
|
| 11 |
+
"functional_success_verified": false,
|
| 12 |
+
"index": 714
|
| 13 |
+
},
|
| 14 |
+
"artifact": {
|
| 15 |
+
"bytes": 14028732,
|
| 16 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/07_object_centric_human_demo/offset_retune_v5_20260811/phone_03_object_centric_v3_e334a64ebc64.npz",
|
| 17 |
+
"read_only_mode": "0444",
|
| 18 |
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"sha256": "65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9"
|
| 19 |
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},
|
| 20 |
+
"duration_s": 11.9,
|
| 21 |
+
"episode_id": "phone_03",
|
| 22 |
+
"frames": 715,
|
| 23 |
+
"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
+
"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
+
"object_rigid_from_mesh": true,
|
| 28 |
+
"time_sync": false
|
| 29 |
+
},
|
| 30 |
+
"qa": {
|
| 31 |
+
"A_object_position_norm_m": 5.551115123125783e-17,
|
| 32 |
+
"A_object_rotation_matrix_max_abs_error": 3.552713678800501e-15,
|
| 33 |
+
"phase_end": 1.0,
|
| 34 |
+
"phase_start": 0.0,
|
| 35 |
+
"phase_strictly_increasing": true,
|
| 36 |
+
"world_hand_joints_max_abs_error_m": 4.163336342344337e-16,
|
| 37 |
+
"world_hand_pose_from_objectMeshA_max_abs_error": 2.9976021664879227e-15,
|
| 38 |
+
"world_hand_pose_from_objectMesh_max_abs_error": 3.1086244689504383e-15,
|
| 39 |
+
"world_mano_joints_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 40 |
+
"world_mano_vertices_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 41 |
+
"world_object_mesh_pose_max_abs_error": 3.552713678800501e-15
|
| 42 |
+
},
|
| 43 |
+
"recipe_id": "e334a64ebc6417bd6b9cd152137e4280a7d7dc35df7b63e847e10ba41ff90cab",
|
| 44 |
+
"recipe_version": "export_object_centric_human_demo_generic_v3",
|
| 45 |
+
"schema": "a2b_immutable_artifact_manifest_v1",
|
| 46 |
+
"sources": {
|
| 47 |
+
"corrected_artifact": {
|
| 48 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_03_corrected_world_v3_d39f6387ff27.npz",
|
| 49 |
+
"sha256": "c084bf483145f9cb395951758e3303584ab323a2fe7d6b269aeee8d9bf240537"
|
| 50 |
+
},
|
| 51 |
+
"corrected_manifest": {
|
| 52 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_03_corrected_world_v3_d39f6387ff27.manifest.json",
|
| 53 |
+
"sha256": "651d98f4be8e9da272d9379eb0117374506030e77c9e19ed6e8b6ddbe70b3eca"
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/stage2/reference_manifest.json
ADDED
|
@@ -0,0 +1,219 @@
|
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|
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|
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|
|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"human_demo_60hz.h5": {
|
| 4 |
+
"bytes": 466120,
|
| 5 |
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"path": "human_demo_60hz.h5",
|
| 6 |
+
"sha256": "bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de"
|
| 7 |
+
},
|
| 8 |
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"retargeted_60fps.h5": {
|
| 9 |
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"bytes": 954040,
|
| 10 |
+
"path": "retargeted_60fps.h5",
|
| 11 |
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"sha256": "2b0107a660d314deb746f81d6ca0e89a98d22bb8ac1c1a88cfb373efcf712e83"
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
"canonical_world_frame": "gravity_aligned_isaac_world",
|
| 15 |
+
"episode_id": "phone_03",
|
| 16 |
+
"frame_count": 715,
|
| 17 |
+
"penetration_audit": {
|
| 18 |
+
"changed_frame_count": 3,
|
| 19 |
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"changed_frames": [
|
| 20 |
+
453,
|
| 21 |
+
539,
|
| 22 |
+
540
|
| 23 |
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],
|
| 24 |
+
"frame_count": 715,
|
| 25 |
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"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 26 |
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"max_penetration_depth_m": 0.0010018200319766917,
|
| 27 |
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"max_rotation_delta_deg": 0.0,
|
| 28 |
+
"max_translation_delta_m": 3.774418845185109e-05,
|
| 29 |
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"max_violation_m": 1.8200319766917272e-06,
|
| 30 |
+
"numerical_epsilon_m": 2e-06,
|
| 31 |
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"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 32 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 33 |
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"steps": [
|
| 34 |
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{
|
| 35 |
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"frame": 453,
|
| 36 |
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"geometry_names": [
|
| 37 |
+
"right_sharpa_wave::Mesh",
|
| 38 |
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"phone::Mesh_1"
|
| 39 |
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],
|
| 40 |
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"pre_repair_violation_m": 1.770735057518699e-05,
|
| 41 |
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"robot_root_translation_delta_m": [
|
| 42 |
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|
| 43 |
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2.1044360400280634e-05,
|
| 44 |
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|
| 45 |
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]
|
| 46 |
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},
|
| 47 |
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{
|
| 48 |
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"frame": 539,
|
| 49 |
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"geometry_names": [
|
| 50 |
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"right_sharpa_wave::Mesh",
|
| 51 |
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"phone::Mesh_1"
|
| 52 |
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],
|
| 53 |
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"pre_repair_violation_m": 3.274418845185256e-05,
|
| 54 |
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"robot_root_translation_delta_m": [
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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]
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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"frame": 540,
|
| 62 |
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"geometry_names": [
|
| 63 |
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"right_sharpa_wave::Mesh",
|
| 64 |
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"phone::Mesh_1"
|
| 65 |
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],
|
| 66 |
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"pre_repair_violation_m": 5.108951371436904e-06,
|
| 67 |
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"robot_root_translation_delta_m": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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],
|
| 74 |
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"tolerance_m": 0.001,
|
| 75 |
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"violating_frame_count": 0,
|
| 76 |
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"violating_frames": [],
|
| 77 |
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"worst_depth": {
|
| 78 |
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"depth_m": 0.0010018200319766917,
|
| 79 |
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"frame": 330,
|
| 80 |
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"geometry_names": [
|
| 81 |
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"right_sharpa_wave::Mesh",
|
| 82 |
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"phone::Mesh_1"
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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"worst_violation_pairs": []
|
| 86 |
+
},
|
| 87 |
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"quaternion_conventions": {
|
| 88 |
+
"human_object": "wxyz",
|
| 89 |
+
"human_wrist": "xyzw",
|
| 90 |
+
"retargeted_object": "wxyz",
|
| 91 |
+
"retargeted_robot": "wxyz"
|
| 92 |
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},
|
| 93 |
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"robot": {
|
| 94 |
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"finger_dof": 22,
|
| 95 |
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"fingertip_keypoint_indices": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"joint_names": [
|
| 103 |
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"right_thumb_CMC_FE",
|
| 104 |
+
"right_thumb_CMC_AA",
|
| 105 |
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"right_thumb_MCP_FE",
|
| 106 |
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"right_thumb_MCP_AA",
|
| 107 |
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"right_thumb_IP",
|
| 108 |
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"right_index_MCP_FE",
|
| 109 |
+
"right_index_MCP_AA",
|
| 110 |
+
"right_index_PIP",
|
| 111 |
+
"right_index_DIP",
|
| 112 |
+
"right_middle_MCP_FE",
|
| 113 |
+
"right_middle_MCP_AA",
|
| 114 |
+
"right_middle_PIP",
|
| 115 |
+
"right_middle_DIP",
|
| 116 |
+
"right_ring_MCP_FE",
|
| 117 |
+
"right_ring_MCP_AA",
|
| 118 |
+
"right_ring_PIP",
|
| 119 |
+
"right_ring_DIP",
|
| 120 |
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"right_pinky_CMC",
|
| 121 |
+
"right_pinky_MCP_FE",
|
| 122 |
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"right_pinky_MCP_AA",
|
| 123 |
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"right_pinky_PIP",
|
| 124 |
+
"right_pinky_DIP"
|
| 125 |
+
],
|
| 126 |
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"joint_position_indices": [
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"keypoint_names": [
|
| 151 |
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"right_hand_C_MC",
|
| 152 |
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"right_thumb_MC",
|
| 153 |
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"right_thumb_PP",
|
| 154 |
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"right_thumb_DP",
|
| 155 |
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"right_thumb_fingertip",
|
| 156 |
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"right_index_PP",
|
| 157 |
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"right_index_MP",
|
| 158 |
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"right_index_DP",
|
| 159 |
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"right_index_fingertip",
|
| 160 |
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"right_middle_PP",
|
| 161 |
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"right_middle_MP",
|
| 162 |
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"right_middle_DP",
|
| 163 |
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"right_middle_fingertip",
|
| 164 |
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"right_ring_PP",
|
| 165 |
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"right_ring_MP",
|
| 166 |
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"right_ring_DP",
|
| 167 |
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"right_ring_fingertip",
|
| 168 |
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"right_pinky_PP",
|
| 169 |
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"right_pinky_MP",
|
| 170 |
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"right_pinky_DP",
|
| 171 |
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"right_pinky_fingertip"
|
| 172 |
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],
|
| 173 |
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"keypoint_source_indices": [
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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]
|
| 196 |
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},
|
| 197 |
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"schema": "reorientation_sharpa_wuji2_reference_manifest_v1",
|
| 198 |
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"source_dt_s": 0.016666666666666666,
|
| 199 |
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"source_hz": 60.0,
|
| 200 |
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"sources": {
|
| 201 |
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"human_h5": {
|
| 202 |
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"path": "human_demo_60hz.h5",
|
| 203 |
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"sha256": "bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de"
|
| 204 |
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},
|
| 205 |
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"moving28_h5": {
|
| 206 |
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"path": "retargeted_moving28_60fps.h5",
|
| 207 |
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"sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898"
|
| 208 |
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},
|
| 209 |
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"retarget_h5": {
|
| 210 |
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"path": "canonical_retarget.h5",
|
| 211 |
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"sha256": "9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19"
|
| 212 |
+
},
|
| 213 |
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"source_npz": {
|
| 214 |
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"path": "../inputs/stage1.npz",
|
| 215 |
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"sha256": "65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9"
|
| 216 |
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}
|
| 217 |
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},
|
| 218 |
+
"units": "m"
|
| 219 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_03/stage2_handoff.json
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"canonical_retarget_h5": {
|
| 4 |
+
"relative_path": "stage2/canonical_retarget.h5",
|
| 5 |
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"sha256": "9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19",
|
| 6 |
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"size_bytes": 954040
|
| 7 |
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|
| 8 |
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"human_demo_60hz_h5": {
|
| 9 |
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"relative_path": "stage2/human_demo_60hz.h5",
|
| 10 |
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"sha256": "bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de",
|
| 11 |
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"size_bytes": 466120
|
| 12 |
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|
| 13 |
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"moving28_h5": {
|
| 14 |
+
"relative_path": "stage2/retargeted_moving28_60fps.h5",
|
| 15 |
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"sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898",
|
| 16 |
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"size_bytes": 958736
|
| 17 |
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},
|
| 18 |
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"reference_manifest": {
|
| 19 |
+
"relative_path": "stage2/reference_manifest.json",
|
| 20 |
+
"sha256": "014d7dd2d96cd36b723973490569c2ad443ddf6f3fdc60a4c787944c2f04f77d",
|
| 21 |
+
"size_bytes": 5150
|
| 22 |
+
},
|
| 23 |
+
"review_video": {
|
| 24 |
+
"relative_path": "qa/stage1_stage2_2x3.mp4",
|
| 25 |
+
"sha256": "defb35b5167d176acfe6d28f69303abe9b0baefa8a548cac9443745b8198d9ba",
|
| 26 |
+
"size_bytes": 14427930
|
| 27 |
+
},
|
| 28 |
+
"stage1_manifest": {
|
| 29 |
+
"relative_path": "inputs/stage1.manifest.json",
|
| 30 |
+
"sha256": "c6bad88fc48b0a81ec4f59a0a729e055b9bae609b58a9669871f5ef4b81308fb",
|
| 31 |
+
"size_bytes": 2449
|
| 32 |
+
},
|
| 33 |
+
"stage1_npz": {
|
| 34 |
+
"relative_path": "inputs/stage1.npz",
|
| 35 |
+
"sha256": "65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9",
|
| 36 |
+
"size_bytes": 14028732
|
| 37 |
+
},
|
| 38 |
+
"validation_receipt": {
|
| 39 |
+
"relative_path": "qa/stage2_validation.json",
|
| 40 |
+
"sha256": "29bfdb11b90095e08efefd38a528d99007b5c3d4b8c498436211e8ffd5279b5f",
|
| 41 |
+
"size_bytes": 4611
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"dimensions": {
|
| 45 |
+
"action_dim": 28,
|
| 46 |
+
"finger_dof": 22,
|
| 47 |
+
"root_dof": 6
|
| 48 |
+
},
|
| 49 |
+
"episode_id": "phone_03",
|
| 50 |
+
"object_name": "phone",
|
| 51 |
+
"provenance": {
|
| 52 |
+
"git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
|
| 53 |
+
"git_dirty": false
|
| 54 |
+
},
|
| 55 |
+
"repair": {
|
| 56 |
+
"nonpenetration": "PASS",
|
| 57 |
+
"qa_status": "ACCEPTED",
|
| 58 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 59 |
+
"solver": "ClarabelSolver"
|
| 60 |
+
},
|
| 61 |
+
"schema": "reorientation_sharpa_stage2_handoff_v1",
|
| 62 |
+
"status": "STAGE2_HANDOFF_ACCEPTED",
|
| 63 |
+
"timeline": {
|
| 64 |
+
"frames": 715,
|
| 65 |
+
"policy_hz": 30.0,
|
| 66 |
+
"source_hz": 60.0
|
| 67 |
+
}
|
| 68 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_fields": [
|
| 3 |
+
"evaluation_reference_h5_sha256"
|
| 4 |
+
],
|
| 5 |
+
"child_sha256": "e9d5af764551161d221ea233ad9cb8179fe5ecdadf7df0ae680a1235ae45f4d2",
|
| 6 |
+
"evaluation_reference_h5_sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd",
|
| 7 |
+
"parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
|
| 8 |
+
"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
+
"semantic_equivalence": true
|
| 10 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drop_detection": {
|
| 3 |
+
"detector": "wrist_object_distance_m",
|
| 4 |
+
"observability": "required_live_pose",
|
| 5 |
+
"threshold_m": 0.15
|
| 6 |
+
},
|
| 7 |
+
"evaluation_reference_h5_sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd",
|
| 8 |
+
"goal_exemplars": [
|
| 9 |
+
{
|
| 10 |
+
"id": "phone_01",
|
| 11 |
+
"phone_in_wrist_pose_wxyz": [
|
| 12 |
+
0.04497496687500502,
|
| 13 |
+
0.031092940773731953,
|
| 14 |
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0.10514462356554327,
|
| 15 |
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0.18347857989940888,
|
| 16 |
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0.7320197472069027,
|
| 17 |
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0.24928085199129213,
|
| 18 |
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0.6069116552248229
|
| 19 |
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],
|
| 20 |
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"source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
|
| 21 |
+
"stable_window_end_s": 13,
|
| 22 |
+
"stable_window_start_s": 12
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"id": "phone_02",
|
| 26 |
+
"phone_in_wrist_pose_wxyz": [
|
| 27 |
+
0.04681787462515056,
|
| 28 |
+
0.03183333037556811,
|
| 29 |
+
0.09926507128878602,
|
| 30 |
+
0.2258363963836322,
|
| 31 |
+
0.7176556957423054,
|
| 32 |
+
0.2100871076302479,
|
| 33 |
+
0.6243649827181528
|
| 34 |
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],
|
| 35 |
+
"source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
|
| 36 |
+
"stable_window_end_s": 10.58333,
|
| 37 |
+
"stable_window_start_s": 9.583333
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"id": "phone_03",
|
| 41 |
+
"phone_in_wrist_pose_wxyz": [
|
| 42 |
+
0.042993544172995224,
|
| 43 |
+
0.026394372547997282,
|
| 44 |
+
0.11310086642605308,
|
| 45 |
+
0.2989591556842424,
|
| 46 |
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0.6785422292252308,
|
| 47 |
+
0.21132367040699318,
|
| 48 |
+
0.636825072305053
|
| 49 |
+
],
|
| 50 |
+
"source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
|
| 51 |
+
"stable_window_end_s": 13.1,
|
| 52 |
+
"stable_window_start_s": 12.1
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"id": "phone_04",
|
| 56 |
+
"phone_in_wrist_pose_wxyz": [
|
| 57 |
+
0.04203459714254923,
|
| 58 |
+
0.03591273429334814,
|
| 59 |
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0.0978112235645566,
|
| 60 |
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0.1053596921578995,
|
| 61 |
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0.7137527196746393,
|
| 62 |
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0.2787498454052086,
|
| 63 |
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0.6338413950761033
|
| 64 |
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],
|
| 65 |
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"source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
|
| 66 |
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"stable_window_end_s": 11.58333,
|
| 67 |
+
"stable_window_start_s": 10.58333
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"id": "phone_05",
|
| 71 |
+
"phone_in_wrist_pose_wxyz": [
|
| 72 |
+
0.041006305548787335,
|
| 73 |
+
0.027437818730328627,
|
| 74 |
+
0.1121336988247133,
|
| 75 |
+
0.20876300782401547,
|
| 76 |
+
0.699793109556475,
|
| 77 |
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0.2886988847626664,
|
| 78 |
+
0.6191611779806145
|
| 79 |
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],
|
| 80 |
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"source_demo_sha256": "42e65d8367e2c5f8217272d569dddc3bdfd248d156e2d4657ea70a3fad093972",
|
| 81 |
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"stable_window_end_s": 11.03333,
|
| 82 |
+
"stable_window_start_s": 10.03333
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"id": "phone_06",
|
| 86 |
+
"phone_in_wrist_pose_wxyz": [
|
| 87 |
+
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|
| 88 |
+
0.016537700924066537,
|
| 89 |
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|
| 90 |
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0.21465128708083678,
|
| 91 |
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0.7211224440987967,
|
| 92 |
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0.16701969270383124,
|
| 93 |
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|
| 94 |
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],
|
| 95 |
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"source_demo_sha256": "cae25992e1b683f669b97b29177e85bf35f124cd5a1907021ec9b192e69a1ea5",
|
| 96 |
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"stable_window_end_s": 15.3,
|
| 97 |
+
"stable_window_start_s": 14.3
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"id": "phone_07",
|
| 101 |
+
"phone_in_wrist_pose_wxyz": [
|
| 102 |
+
0.04352192076906967,
|
| 103 |
+
0.024560718960261057,
|
| 104 |
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|
| 105 |
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0.09899271094178902,
|
| 106 |
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0.7313834731601216,
|
| 107 |
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0.2133683707309308,
|
| 108 |
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|
| 109 |
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],
|
| 110 |
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"source_demo_sha256": "97867a2be220cd7fe674ff6cba05f7668abe34e20b31529d5b7a1b86b76ff404",
|
| 111 |
+
"stable_window_end_s": 12,
|
| 112 |
+
"stable_window_start_s": 11
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"id": "phone_08",
|
| 116 |
+
"phone_in_wrist_pose_wxyz": [
|
| 117 |
+
0.044034256317957224,
|
| 118 |
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| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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| 132 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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{
|
| 145 |
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"id": "phone_10",
|
| 146 |
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|
| 147 |
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|
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| 153 |
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| 156 |
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|
| 157 |
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| 158 |
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},
|
| 159 |
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{
|
| 160 |
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"id": "phone_11",
|
| 161 |
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| 162 |
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| 173 |
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| 174 |
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{
|
| 175 |
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|
| 176 |
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| 177 |
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| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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| 201 |
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| 202 |
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|
| 203 |
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|
| 204 |
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{
|
| 205 |
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"id": "phone_14",
|
| 206 |
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|
| 207 |
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| 216 |
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|
| 217 |
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|
| 218 |
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},
|
| 219 |
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{
|
| 220 |
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"id": "phone_15",
|
| 221 |
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|
| 222 |
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|
| 223 |
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| 227 |
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|
| 230 |
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| 231 |
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|
| 232 |
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"stable_window_start_s": 11.25
|
| 233 |
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},
|
| 234 |
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{
|
| 235 |
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"id": "phone_16",
|
| 236 |
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|
| 237 |
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|
| 238 |
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| 239 |
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| 242 |
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| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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"stable_window_start_s": 12.95
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
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"id": "phone_17",
|
| 251 |
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"phone_in_wrist_pose_wxyz": [
|
| 252 |
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|
| 253 |
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0.024921070169305316,
|
| 254 |
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0.0958906981164899,
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| 255 |
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| 257 |
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| 260 |
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| 261 |
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|
| 262 |
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"stable_window_start_s": 12.16667
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"id": "phone_18",
|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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"stable_window_start_s": 15.01667
|
| 278 |
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},
|
| 279 |
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{
|
| 280 |
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"id": "phone_19",
|
| 281 |
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"phone_in_wrist_pose_wxyz": [
|
| 282 |
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|
| 283 |
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0.029015203792821576,
|
| 284 |
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|
| 285 |
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|
| 286 |
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0.7166413676175086,
|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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"stable_window_start_s": 14
|
| 293 |
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},
|
| 294 |
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{
|
| 295 |
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"id": "phone_20",
|
| 296 |
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"phone_in_wrist_pose_wxyz": [
|
| 297 |
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|
| 298 |
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0.02245202101954502,
|
| 299 |
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0.09215099516581593,
|
| 300 |
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0.11991907663143349,
|
| 301 |
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0.7368239695297542,
|
| 302 |
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0.16676188570734887,
|
| 303 |
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0.6441275700213502
|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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}
|
| 309 |
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],
|
| 310 |
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"hold_duration_s": 0.5,
|
| 311 |
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"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
+
"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
+
"thresholds": {
|
| 314 |
+
"goal_orientation_deg": 3,
|
| 315 |
+
"goal_position_m": 0.003,
|
| 316 |
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"hold_rotation_slip_deg": 5,
|
| 317 |
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"hold_translation_slip_m": 0.005,
|
| 318 |
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"penetration_tolerance_m": 0.001
|
| 319 |
+
},
|
| 320 |
+
"vlm_judge": {
|
| 321 |
+
"enabled": false,
|
| 322 |
+
"mode": "advisory"
|
| 323 |
+
},
|
| 324 |
+
"workspace_lower_m": [
|
| 325 |
+
-0.25,
|
| 326 |
+
-0.25,
|
| 327 |
+
-0.25
|
| 328 |
+
],
|
| 329 |
+
"workspace_upper_m": [
|
| 330 |
+
0.25,
|
| 331 |
+
0.25,
|
| 332 |
+
0.25
|
| 333 |
+
]
|
| 334 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/continuity_jointlimit_report.json
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"continuity_preserved": true,
|
| 4 |
+
"finite": true,
|
| 5 |
+
"joint_limits": true,
|
| 6 |
+
"joint_names_order": true,
|
| 7 |
+
"pip_dip_coupling": true,
|
| 8 |
+
"quaternion_unit": true,
|
| 9 |
+
"repair_submillimeter": true,
|
| 10 |
+
"timestamps_60hz_strict": true
|
| 11 |
+
},
|
| 12 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 13 |
+
"max_joint_step_rad": 0.08464433811799854,
|
| 14 |
+
"max_root_repair_delta_m": 3.191255182927272e-05,
|
| 15 |
+
"max_root_rotation_step_rad": 0.04523832555416699,
|
| 16 |
+
"max_root_translation_step_child_m": 0.00354347749472313,
|
| 17 |
+
"max_root_translation_step_parent_m": 0.00354347749472313,
|
| 18 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 19 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/materialization_receipt.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"allowed_changes": [
|
| 3 |
+
"robot_pos",
|
| 4 |
+
"robot_quat",
|
| 5 |
+
"robot_keypoints"
|
| 6 |
+
],
|
| 7 |
+
"child_sha256": {
|
| 8 |
+
"canonical_retarget_h5": "ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed",
|
| 9 |
+
"moving28_h5": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd"
|
| 10 |
+
},
|
| 11 |
+
"gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
|
| 12 |
+
"immutable_dataset_fingerprints_after": {
|
| 13 |
+
"mano_joint_coords": "f3f2c6a54c2b2b614456adb437e1061dd9487a708e2ae01feb3c39e39792ae54",
|
| 14 |
+
"object_pos": "2fa389eb8cc98223c2ffb2e36fa9022e6e57df13f06441c0dacbeff415e4b0d7",
|
| 15 |
+
"object_quat": "ee986de8fc6194f1183dfd3f21c9f424ff8a4c899a272c0ed70b27f60fb8a8cd",
|
| 16 |
+
"phase": "211bfb941ff1d2df24fec144b1d1e854659d4193500c665fa5916db41a282370",
|
| 17 |
+
"robot_joints": "50b28eb43265592e2dd8b03ebcb163dc5320784da2c37b62239cba03ffd40256",
|
| 18 |
+
"timestamps_s": "fc0b4f07432d07263a54134d93a89b18013ae9c43301f5317777c4e38d4fb5c6"
|
| 19 |
+
},
|
| 20 |
+
"immutable_dataset_fingerprints_before": {
|
| 21 |
+
"mano_joint_coords": "f3f2c6a54c2b2b614456adb437e1061dd9487a708e2ae01feb3c39e39792ae54",
|
| 22 |
+
"object_pos": "2fa389eb8cc98223c2ffb2e36fa9022e6e57df13f06441c0dacbeff415e4b0d7",
|
| 23 |
+
"object_quat": "ee986de8fc6194f1183dfd3f21c9f424ff8a4c899a272c0ed70b27f60fb8a8cd",
|
| 24 |
+
"phase": "211bfb941ff1d2df24fec144b1d1e854659d4193500c665fa5916db41a282370",
|
| 25 |
+
"robot_joints": "50b28eb43265592e2dd8b03ebcb163dc5320784da2c37b62239cba03ffd40256",
|
| 26 |
+
"timestamps_s": "fc0b4f07432d07263a54134d93a89b18013ae9c43301f5317777c4e38d4fb5c6"
|
| 27 |
+
},
|
| 28 |
+
"parent_sha256": {
|
| 29 |
+
"canonical_retarget_h5": "778ffc11e4548dadba9c7236d4191bda7c87c34269b302822c77140fec754f62",
|
| 30 |
+
"moving28_h5": "2ac02250b84040a9e5933dd7399d5ca881029f28d141801ff94fdadcb37f5c11"
|
| 31 |
+
},
|
| 32 |
+
"repair": {
|
| 33 |
+
"changed_frame_count": 1,
|
| 34 |
+
"changed_frames": [
|
| 35 |
+
584
|
| 36 |
+
],
|
| 37 |
+
"frame_count": 696,
|
| 38 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 39 |
+
"max_penetration_depth_m": 0.0010007959475947716,
|
| 40 |
+
"max_rotation_delta_deg": 0.0,
|
| 41 |
+
"max_translation_delta_m": 3.191255182927272e-05,
|
| 42 |
+
"max_violation_m": 7.959475947715792e-07,
|
| 43 |
+
"numerical_epsilon_m": 2e-06,
|
| 44 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 45 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 46 |
+
"steps": [
|
| 47 |
+
{
|
| 48 |
+
"frame": 584,
|
| 49 |
+
"geometry_names": [
|
| 50 |
+
"right_sharpa_wave::Mesh",
|
| 51 |
+
"phone::Mesh_1"
|
| 52 |
+
],
|
| 53 |
+
"pre_repair_violation_m": 2.691255182928e-05,
|
| 54 |
+
"robot_root_translation_delta_m": [
|
| 55 |
+
5.093412508744397e-06,
|
| 56 |
+
3.108165152300915e-05,
|
| 57 |
+
5.138000766297285e-06
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
],
|
| 61 |
+
"tolerance_m": 0.001,
|
| 62 |
+
"violating_frame_count": 0,
|
| 63 |
+
"violating_frames": [],
|
| 64 |
+
"worst_depth": {
|
| 65 |
+
"depth_m": 0.0010007959475947716,
|
| 66 |
+
"frame": 304,
|
| 67 |
+
"geometry_names": [
|
| 68 |
+
"right_sharpa_wave::Mesh",
|
| 69 |
+
"phone::Mesh_1"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"worst_violation_pairs": []
|
| 73 |
+
},
|
| 74 |
+
"schema": "sharpa_t0147_aligned_stage2_materialization_receipt_v1",
|
| 75 |
+
"unchanged_datasets": {
|
| 76 |
+
"mano_joint_coords": true,
|
| 77 |
+
"object_pos": true,
|
| 78 |
+
"object_quat": true,
|
| 79 |
+
"phase": true,
|
| 80 |
+
"robot_joints": true,
|
| 81 |
+
"timestamps_s": true
|
| 82 |
+
}
|
| 83 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/nonpenetration_report.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_frame_count": 1,
|
| 3 |
+
"changed_frames": [
|
| 4 |
+
584
|
| 5 |
+
],
|
| 6 |
+
"frame_count": 696,
|
| 7 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 8 |
+
"max_penetration_depth_m": 0.0010007959475947716,
|
| 9 |
+
"max_rotation_delta_deg": 0.0,
|
| 10 |
+
"max_translation_delta_m": 3.191255182927272e-05,
|
| 11 |
+
"max_violation_m": 7.959475947715792e-07,
|
| 12 |
+
"numerical_epsilon_m": 2e-06,
|
| 13 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 14 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 15 |
+
"steps": [
|
| 16 |
+
{
|
| 17 |
+
"frame": 584,
|
| 18 |
+
"geometry_names": [
|
| 19 |
+
"right_sharpa_wave::Mesh",
|
| 20 |
+
"phone::Mesh_1"
|
| 21 |
+
],
|
| 22 |
+
"pre_repair_violation_m": 2.691255182928e-05,
|
| 23 |
+
"robot_root_translation_delta_m": [
|
| 24 |
+
5.093412508744397e-06,
|
| 25 |
+
3.108165152300915e-05,
|
| 26 |
+
5.138000766297285e-06
|
| 27 |
+
]
|
| 28 |
+
}
|
| 29 |
+
],
|
| 30 |
+
"tolerance_m": 0.001,
|
| 31 |
+
"violating_frame_count": 0,
|
| 32 |
+
"violating_frames": [],
|
| 33 |
+
"worst_depth": {
|
| 34 |
+
"depth_m": 0.0010007959475947716,
|
| 35 |
+
"frame": 304,
|
| 36 |
+
"geometry_names": [
|
| 37 |
+
"right_sharpa_wave::Mesh",
|
| 38 |
+
"phone::Mesh_1"
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"worst_violation_pairs": []
|
| 42 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/path_audit.json
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_id": "phone_04",
|
| 3 |
+
"gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
|
| 4 |
+
"historical_absolute_provenance_ignored": true,
|
| 5 |
+
"resolved_artifacts": {
|
| 6 |
+
"canonical_retarget_h5": "phone_04/stage2/canonical_retarget.h5",
|
| 7 |
+
"human_demo_60hz_h5": "phone_04/stage2/human_demo_60hz.h5",
|
| 8 |
+
"moving28_h5": "phone_04/stage2/retargeted_moving28_60fps.h5",
|
| 9 |
+
"reference_manifest": "phone_04/stage2/reference_manifest.json",
|
| 10 |
+
"review_video": "phone_04/qa/stage1_stage2_2x3.mp4",
|
| 11 |
+
"stage1_manifest": "phone_04/inputs/stage1.manifest.json",
|
| 12 |
+
"stage1_npz": "phone_04/inputs/stage1.npz",
|
| 13 |
+
"validation_receipt": "phone_04/qa/stage2_validation.json"
|
| 14 |
+
},
|
| 15 |
+
"schema": "sharpa_stage2_release_clone_local_path_audit_v1",
|
| 16 |
+
"symlink_count": 0
|
| 17 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/qa/stage2_validation.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"canonical_source_derived": true,
|
| 4 |
+
"clone_local_paths": true,
|
| 5 |
+
"frame_count_and_60hz": true,
|
| 6 |
+
"hard_nonpenetration_measured": true,
|
| 7 |
+
"joint_names_order_and_limits": true,
|
| 8 |
+
"moving28_immutable_arrays_preserved": true,
|
| 9 |
+
"moving28_parent_hash_bound": true,
|
| 10 |
+
"pip_dip_coupling": true,
|
| 11 |
+
"quaternion_finite_unit": true,
|
| 12 |
+
"review_video_parent_submillimeter_equivalence": true,
|
| 13 |
+
"root_continuity": true
|
| 14 |
+
},
|
| 15 |
+
"continuity_jointlimit": {
|
| 16 |
+
"checks": {
|
| 17 |
+
"continuity_preserved": true,
|
| 18 |
+
"finite": true,
|
| 19 |
+
"joint_limits": true,
|
| 20 |
+
"joint_names_order": true,
|
| 21 |
+
"pip_dip_coupling": true,
|
| 22 |
+
"quaternion_unit": true,
|
| 23 |
+
"repair_submillimeter": true,
|
| 24 |
+
"timestamps_60hz_strict": true
|
| 25 |
+
},
|
| 26 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 27 |
+
"max_joint_step_rad": 0.08464433811799854,
|
| 28 |
+
"max_root_repair_delta_m": 3.191255182927272e-05,
|
| 29 |
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"max_root_rotation_step_rad": 0.04523832555416699,
|
| 30 |
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"max_root_translation_step_child_m": 0.00354347749472313,
|
| 31 |
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"max_root_translation_step_parent_m": 0.00354347749472313,
|
| 32 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 33 |
+
},
|
| 34 |
+
"gate": "ACTUATOR_PARITY_STAGE2_INPUT_PASS",
|
| 35 |
+
"penetration_audit": {
|
| 36 |
+
"changed_frame_count": 1,
|
| 37 |
+
"changed_frames": [
|
| 38 |
+
584
|
| 39 |
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],
|
| 40 |
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"frame_count": 696,
|
| 41 |
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"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 42 |
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"max_penetration_depth_m": 0.0010007959475947716,
|
| 43 |
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"max_rotation_delta_deg": 0.0,
|
| 44 |
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"max_translation_delta_m": 3.191255182927272e-05,
|
| 45 |
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"max_violation_m": 7.959475947715792e-07,
|
| 46 |
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"numerical_epsilon_m": 2e-06,
|
| 47 |
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"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 48 |
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"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 49 |
+
"steps": [
|
| 50 |
+
{
|
| 51 |
+
"frame": 584,
|
| 52 |
+
"geometry_names": [
|
| 53 |
+
"right_sharpa_wave::Mesh",
|
| 54 |
+
"phone::Mesh_1"
|
| 55 |
+
],
|
| 56 |
+
"pre_repair_violation_m": 2.691255182928e-05,
|
| 57 |
+
"robot_root_translation_delta_m": [
|
| 58 |
+
5.093412508744397e-06,
|
| 59 |
+
3.108165152300915e-05,
|
| 60 |
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5.138000766297285e-06
|
| 61 |
+
]
|
| 62 |
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}
|
| 63 |
+
],
|
| 64 |
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"tolerance_m": 0.001,
|
| 65 |
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"violating_frame_count": 0,
|
| 66 |
+
"violating_frames": [],
|
| 67 |
+
"worst_depth": {
|
| 68 |
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"depth_m": 0.0010007959475947716,
|
| 69 |
+
"frame": 304,
|
| 70 |
+
"geometry_names": [
|
| 71 |
+
"right_sharpa_wave::Mesh",
|
| 72 |
+
"phone::Mesh_1"
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
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"worst_violation_pairs": []
|
| 76 |
+
},
|
| 77 |
+
"required_qa": {
|
| 78 |
+
"action_dim": 28,
|
| 79 |
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"continuity": true,
|
| 80 |
+
"finger_dof": 22,
|
| 81 |
+
"hard_nonpenetration": true,
|
| 82 |
+
"kinematic_only": true,
|
| 83 |
+
"pip_dip_coupling": true,
|
| 84 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 85 |
+
"solver": "ClarabelSolver"
|
| 86 |
+
},
|
| 87 |
+
"review_video": {
|
| 88 |
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"max_unrendered_root_translation_delta_m": 3.191255182927272e-05,
|
| 89 |
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"release_penetration_tolerance_m": 0.001,
|
| 90 |
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"sha256": "8ec37e98c08f30ec74c5eef159c13df9c158b27cf14139cf2c9fbaaa0cd3a4e6",
|
| 91 |
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"source": "T0-147-aligned parent render",
|
| 92 |
+
"user_accepted_submillimeter_equivalence": true
|
| 93 |
+
},
|
| 94 |
+
"schema": "sharpa_actuatorparity_stage2_input_validation_v1",
|
| 95 |
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"training_h5": {
|
| 96 |
+
"frames": 696,
|
| 97 |
+
"joint_count": 22,
|
| 98 |
+
"joint_names": [
|
| 99 |
+
"right_thumb_CMC_FE",
|
| 100 |
+
"right_thumb_CMC_AA",
|
| 101 |
+
"right_thumb_MCP_FE",
|
| 102 |
+
"right_thumb_MCP_AA",
|
| 103 |
+
"right_thumb_IP",
|
| 104 |
+
"right_index_MCP_FE",
|
| 105 |
+
"right_index_MCP_AA",
|
| 106 |
+
"right_index_PIP",
|
| 107 |
+
"right_index_DIP",
|
| 108 |
+
"right_middle_MCP_FE",
|
| 109 |
+
"right_middle_MCP_AA",
|
| 110 |
+
"right_middle_PIP",
|
| 111 |
+
"right_middle_DIP",
|
| 112 |
+
"right_ring_MCP_FE",
|
| 113 |
+
"right_ring_MCP_AA",
|
| 114 |
+
"right_ring_PIP",
|
| 115 |
+
"right_ring_DIP",
|
| 116 |
+
"right_pinky_CMC",
|
| 117 |
+
"right_pinky_MCP_FE",
|
| 118 |
+
"right_pinky_MCP_AA",
|
| 119 |
+
"right_pinky_PIP",
|
| 120 |
+
"right_pinky_DIP"
|
| 121 |
+
],
|
| 122 |
+
"policy_action_dim": 28,
|
| 123 |
+
"sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd"
|
| 124 |
+
}
|
| 125 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/stage1/stage1.manifest.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"A": {
|
| 3 |
+
"definition": "first temporal-clean jointly-valid frame",
|
| 4 |
+
"frame": 0,
|
| 5 |
+
"index": 0,
|
| 6 |
+
"physics_stable_grasp_verified": false
|
| 7 |
+
},
|
| 8 |
+
"B": {
|
| 9 |
+
"definition": "last temporal-clean jointly-valid frame",
|
| 10 |
+
"frame": 695,
|
| 11 |
+
"functional_success_verified": false,
|
| 12 |
+
"index": 695
|
| 13 |
+
},
|
| 14 |
+
"artifact": {
|
| 15 |
+
"bytes": 13661175,
|
| 16 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/07_object_centric_human_demo/offset_retune_v5_20260811/phone_04_object_centric_v3_1c277f0b44e7.npz",
|
| 17 |
+
"read_only_mode": "0444",
|
| 18 |
+
"sha256": "f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837"
|
| 19 |
+
},
|
| 20 |
+
"duration_s": 11.58333,
|
| 21 |
+
"episode_id": "phone_04",
|
| 22 |
+
"frames": 696,
|
| 23 |
+
"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
+
"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
+
"object_rigid_from_mesh": true,
|
| 28 |
+
"time_sync": false
|
| 29 |
+
},
|
| 30 |
+
"qa": {
|
| 31 |
+
"A_object_position_norm_m": 3.1031676915590914e-17,
|
| 32 |
+
"A_object_rotation_matrix_max_abs_error": 3.774758283725532e-15,
|
| 33 |
+
"phase_end": 1.0,
|
| 34 |
+
"phase_start": 0.0,
|
| 35 |
+
"phase_strictly_increasing": true,
|
| 36 |
+
"world_hand_joints_max_abs_error_m": 3.885780586188048e-16,
|
| 37 |
+
"world_hand_pose_from_objectMeshA_max_abs_error": 2.6645352591003757e-15,
|
| 38 |
+
"world_hand_pose_from_objectMesh_max_abs_error": 3.3306690738754696e-15,
|
| 39 |
+
"world_mano_joints_float32_max_abs_error_m": 4.307366907596588e-09,
|
| 40 |
+
"world_mano_vertices_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 41 |
+
"world_object_mesh_pose_max_abs_error": 3.219646771412954e-15
|
| 42 |
+
},
|
| 43 |
+
"recipe_id": "1c277f0b44e7b126e895b0194bb406ae7905279e0fa0120418aaf9762150a7af",
|
| 44 |
+
"recipe_version": "export_object_centric_human_demo_generic_v3",
|
| 45 |
+
"schema": "a2b_immutable_artifact_manifest_v1",
|
| 46 |
+
"sources": {
|
| 47 |
+
"corrected_artifact": {
|
| 48 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_04_corrected_world_v3_3ee171db7b3a.npz",
|
| 49 |
+
"sha256": "424dd0ecac99d7a5afe723b0f95babab0669c3e7e2b06211a343e33d99199c2b"
|
| 50 |
+
},
|
| 51 |
+
"corrected_manifest": {
|
| 52 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_04_corrected_world_v3_3ee171db7b3a.manifest.json",
|
| 53 |
+
"sha256": "c894b771aa9f37ecb3d3ccb90651fa79dc823689515183709d45aab76d38ff7c"
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/stage2/reference_manifest.json
ADDED
|
@@ -0,0 +1,191 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"artifacts": {
|
| 3 |
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"human_demo_60hz.h5": {
|
| 4 |
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"bytes": 453960,
|
| 5 |
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"path": "human_demo_60hz.h5",
|
| 6 |
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"sha256": "576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26"
|
| 7 |
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},
|
| 8 |
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"retargeted_60fps.h5": {
|
| 9 |
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"bytes": 928960,
|
| 10 |
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"path": "retargeted_60fps.h5",
|
| 11 |
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"sha256": "778ffc11e4548dadba9c7236d4191bda7c87c34269b302822c77140fec754f62"
|
| 12 |
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}
|
| 13 |
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},
|
| 14 |
+
"canonical_world_frame": "gravity_aligned_isaac_world",
|
| 15 |
+
"episode_id": "phone_04",
|
| 16 |
+
"frame_count": 696,
|
| 17 |
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"penetration_audit": {
|
| 18 |
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"changed_frame_count": 1,
|
| 19 |
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"changed_frames": [
|
| 20 |
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584
|
| 21 |
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],
|
| 22 |
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"frame_count": 696,
|
| 23 |
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"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 24 |
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"max_penetration_depth_m": 0.0010007959475947716,
|
| 25 |
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"max_rotation_delta_deg": 0.0,
|
| 26 |
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"max_translation_delta_m": 3.191255182927272e-05,
|
| 27 |
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"max_violation_m": 7.959475947715792e-07,
|
| 28 |
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"numerical_epsilon_m": 2e-06,
|
| 29 |
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"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 30 |
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"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 31 |
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"steps": [
|
| 32 |
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{
|
| 33 |
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"frame": 584,
|
| 34 |
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"geometry_names": [
|
| 35 |
+
"right_sharpa_wave::Mesh",
|
| 36 |
+
"phone::Mesh_1"
|
| 37 |
+
],
|
| 38 |
+
"pre_repair_violation_m": 2.691255182928e-05,
|
| 39 |
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"robot_root_translation_delta_m": [
|
| 40 |
+
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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],
|
| 46 |
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"tolerance_m": 0.001,
|
| 47 |
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"violating_frame_count": 0,
|
| 48 |
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"violating_frames": [],
|
| 49 |
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"worst_depth": {
|
| 50 |
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"depth_m": 0.0010007959475947716,
|
| 51 |
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"frame": 304,
|
| 52 |
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"geometry_names": [
|
| 53 |
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"right_sharpa_wave::Mesh",
|
| 54 |
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"phone::Mesh_1"
|
| 55 |
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]
|
| 56 |
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},
|
| 57 |
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"worst_violation_pairs": []
|
| 58 |
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},
|
| 59 |
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"quaternion_conventions": {
|
| 60 |
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"human_object": "wxyz",
|
| 61 |
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"human_wrist": "xyzw",
|
| 62 |
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"retargeted_object": "wxyz",
|
| 63 |
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"retargeted_robot": "wxyz"
|
| 64 |
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},
|
| 65 |
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"robot": {
|
| 66 |
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"finger_dof": 22,
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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],
|
| 74 |
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"joint_names": [
|
| 75 |
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|
| 76 |
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"right_thumb_CMC_AA",
|
| 77 |
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"right_thumb_MCP_FE",
|
| 78 |
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"right_thumb_MCP_AA",
|
| 79 |
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"right_thumb_IP",
|
| 80 |
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"right_index_MCP_FE",
|
| 81 |
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"right_index_MCP_AA",
|
| 82 |
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"right_index_PIP",
|
| 83 |
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"right_index_DIP",
|
| 84 |
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"right_middle_MCP_FE",
|
| 85 |
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"right_middle_MCP_AA",
|
| 86 |
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"right_middle_PIP",
|
| 87 |
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"right_middle_DIP",
|
| 88 |
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"right_ring_MCP_FE",
|
| 89 |
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"right_ring_MCP_AA",
|
| 90 |
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"right_ring_PIP",
|
| 91 |
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"right_ring_DIP",
|
| 92 |
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"right_pinky_CMC",
|
| 93 |
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"right_pinky_MCP_FE",
|
| 94 |
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"right_pinky_MCP_AA",
|
| 95 |
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"right_pinky_PIP",
|
| 96 |
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"right_pinky_DIP"
|
| 97 |
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],
|
| 98 |
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"joint_position_indices": [
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 104 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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],
|
| 122 |
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"keypoint_names": [
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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"right_middle_DP",
|
| 135 |
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|
| 136 |
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"right_ring_PP",
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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| 146 |
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|
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|
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|
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|
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|
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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"sources": {
|
| 173 |
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"human_h5": {
|
| 174 |
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"path": "human_demo_60hz.h5",
|
| 175 |
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"sha256": "576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26"
|
| 176 |
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},
|
| 177 |
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"moving28_h5": {
|
| 178 |
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"path": "retargeted_moving28_60fps.h5",
|
| 179 |
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"sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd"
|
| 180 |
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|
| 181 |
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|
| 182 |
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"path": "canonical_retarget.h5",
|
| 183 |
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"sha256": "ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed"
|
| 184 |
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|
| 185 |
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"source_npz": {
|
| 186 |
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"path": "../inputs/stage1.npz",
|
| 187 |
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| 188 |
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|
| 189 |
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|
| 190 |
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"units": "m"
|
| 191 |
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}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_04/stage2_handoff.json
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"canonical_retarget_h5": {
|
| 4 |
+
"relative_path": "stage2/canonical_retarget.h5",
|
| 5 |
+
"sha256": "ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed",
|
| 6 |
+
"size_bytes": 928960
|
| 7 |
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|
| 8 |
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"human_demo_60hz_h5": {
|
| 9 |
+
"relative_path": "stage2/human_demo_60hz.h5",
|
| 10 |
+
"sha256": "576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26",
|
| 11 |
+
"size_bytes": 453960
|
| 12 |
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},
|
| 13 |
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"moving28_h5": {
|
| 14 |
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"relative_path": "stage2/retargeted_moving28_60fps.h5",
|
| 15 |
+
"sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd",
|
| 16 |
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"size_bytes": 933656
|
| 17 |
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},
|
| 18 |
+
"reference_manifest": {
|
| 19 |
+
"relative_path": "stage2/reference_manifest.json",
|
| 20 |
+
"sha256": "2cda6d35199f01b0d3697c8c8b99ffedc8a834849f9fc8e1ba8b84d0756003f1",
|
| 21 |
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"size_bytes": 4422
|
| 22 |
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},
|
| 23 |
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"review_video": {
|
| 24 |
+
"relative_path": "qa/stage1_stage2_2x3.mp4",
|
| 25 |
+
"sha256": "8ec37e98c08f30ec74c5eef159c13df9c158b27cf14139cf2c9fbaaa0cd3a4e6",
|
| 26 |
+
"size_bytes": 14096525
|
| 27 |
+
},
|
| 28 |
+
"stage1_manifest": {
|
| 29 |
+
"relative_path": "inputs/stage1.manifest.json",
|
| 30 |
+
"sha256": "1ef4843f3e0f3c1845925d4b4f58fe4eb8c543798529d694e5ff041a90f1feff",
|
| 31 |
+
"size_bytes": 2453
|
| 32 |
+
},
|
| 33 |
+
"stage1_npz": {
|
| 34 |
+
"relative_path": "inputs/stage1.npz",
|
| 35 |
+
"sha256": "f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837",
|
| 36 |
+
"size_bytes": 13661175
|
| 37 |
+
},
|
| 38 |
+
"validation_receipt": {
|
| 39 |
+
"relative_path": "qa/stage2_validation.json",
|
| 40 |
+
"sha256": "e3f45f416ebc7593044234d2db012719767cb64a866197a4b6d48ae707de5068",
|
| 41 |
+
"size_bytes": 3881
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"dimensions": {
|
| 45 |
+
"action_dim": 28,
|
| 46 |
+
"finger_dof": 22,
|
| 47 |
+
"root_dof": 6
|
| 48 |
+
},
|
| 49 |
+
"episode_id": "phone_04",
|
| 50 |
+
"object_name": "phone",
|
| 51 |
+
"provenance": {
|
| 52 |
+
"git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
|
| 53 |
+
"git_dirty": false
|
| 54 |
+
},
|
| 55 |
+
"repair": {
|
| 56 |
+
"nonpenetration": "PASS",
|
| 57 |
+
"qa_status": "ACCEPTED",
|
| 58 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 59 |
+
"solver": "ClarabelSolver"
|
| 60 |
+
},
|
| 61 |
+
"schema": "reorientation_sharpa_stage2_handoff_v1",
|
| 62 |
+
"status": "STAGE2_HANDOFF_ACCEPTED",
|
| 63 |
+
"timeline": {
|
| 64 |
+
"frames": 696,
|
| 65 |
+
"policy_hz": 30.0,
|
| 66 |
+
"source_hz": 60.0
|
| 67 |
+
}
|
| 68 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_05/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"changed_fields": [
|
| 3 |
+
"evaluation_reference_h5_sha256"
|
| 4 |
+
],
|
| 5 |
+
"child_sha256": "2d2b0d99b4f93e76e1e6ca3ae1552980fa3ea807b0c63857313b48ad256746c1",
|
| 6 |
+
"evaluation_reference_h5_sha256": "9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd",
|
| 7 |
+
"parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
|
| 8 |
+
"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
+
"semantic_equivalence": true
|
| 10 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_05/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drop_detection": {
|
| 3 |
+
"detector": "wrist_object_distance_m",
|
| 4 |
+
"observability": "required_live_pose",
|
| 5 |
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"threshold_m": 0.15
|
| 6 |
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},
|
| 7 |
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"evaluation_reference_h5_sha256": "9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd",
|
| 8 |
+
"goal_exemplars": [
|
| 9 |
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{
|
| 10 |
+
"id": "phone_01",
|
| 11 |
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"phone_in_wrist_pose_wxyz": [
|
| 12 |
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|
| 13 |
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0.031092940773731953,
|
| 14 |
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|
| 15 |
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0.18347857989940888,
|
| 16 |
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0.7320197472069027,
|
| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
|
| 21 |
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"stable_window_end_s": 13,
|
| 22 |
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"stable_window_start_s": 12
|
| 23 |
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},
|
| 24 |
+
{
|
| 25 |
+
"id": "phone_02",
|
| 26 |
+
"phone_in_wrist_pose_wxyz": [
|
| 27 |
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|
| 28 |
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|
| 29 |
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0.09926507128878602,
|
| 30 |
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0.2258363963836322,
|
| 31 |
+
0.7176556957423054,
|
| 32 |
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0.2100871076302479,
|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
|
| 36 |
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"stable_window_end_s": 10.58333,
|
| 37 |
+
"stable_window_start_s": 9.583333
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"id": "phone_03",
|
| 41 |
+
"phone_in_wrist_pose_wxyz": [
|
| 42 |
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0.042993544172995224,
|
| 43 |
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0.026394372547997282,
|
| 44 |
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0.11310086642605308,
|
| 45 |
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0.2989591556842424,
|
| 46 |
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0.6785422292252308,
|
| 47 |
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0.21132367040699318,
|
| 48 |
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|
| 49 |
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],
|
| 50 |
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"source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
|
| 51 |
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"stable_window_end_s": 13.1,
|
| 52 |
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"stable_window_start_s": 12.1
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
+
"id": "phone_04",
|
| 56 |
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"phone_in_wrist_pose_wxyz": [
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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0.1053596921578995,
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
|
| 66 |
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"stable_window_end_s": 11.58333,
|
| 67 |
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"stable_window_start_s": 10.58333
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"id": "phone_05",
|
| 71 |
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"phone_in_wrist_pose_wxyz": [
|
| 72 |
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|
| 73 |
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0.027437818730328627,
|
| 74 |
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|
| 75 |
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0.20876300782401547,
|
| 76 |
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0.699793109556475,
|
| 77 |
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0.2886988847626664,
|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"source_demo_sha256": "42e65d8367e2c5f8217272d569dddc3bdfd248d156e2d4657ea70a3fad093972",
|
| 81 |
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"stable_window_end_s": 11.03333,
|
| 82 |
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"stable_window_start_s": 10.03333
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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"id": "phone_06",
|
| 86 |
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"phone_in_wrist_pose_wxyz": [
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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],
|
| 95 |
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"source_demo_sha256": "cae25992e1b683f669b97b29177e85bf35f124cd5a1907021ec9b192e69a1ea5",
|
| 96 |
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"stable_window_end_s": 15.3,
|
| 97 |
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"stable_window_start_s": 14.3
|
| 98 |
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},
|
| 99 |
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{
|
| 100 |
+
"id": "phone_07",
|
| 101 |
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"phone_in_wrist_pose_wxyz": [
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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],
|
| 110 |
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"source_demo_sha256": "97867a2be220cd7fe674ff6cba05f7668abe34e20b31529d5b7a1b86b76ff404",
|
| 111 |
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"stable_window_end_s": 12,
|
| 112 |
+
"stable_window_start_s": 11
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"id": "phone_08",
|
| 116 |
+
"phone_in_wrist_pose_wxyz": [
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"stable_window_end_s": 21.63333,
|
| 127 |
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"stable_window_start_s": 20.63333
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"id": "phone_09",
|
| 131 |
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"phone_in_wrist_pose_wxyz": [
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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| 158 |
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| 161 |
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| 162 |
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|
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| 192 |
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|
| 203 |
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|
| 205 |
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|
| 206 |
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| 207 |
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|
| 220 |
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|
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| 222 |
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|
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|
| 233 |
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| 234 |
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|
| 235 |
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|
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|
| 248 |
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|
| 249 |
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|
| 250 |
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"id": "phone_17",
|
| 251 |
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| 252 |
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|
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|
| 263 |
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| 264 |
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|
| 265 |
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|
| 266 |
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| 267 |
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|
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|
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| 279 |
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|
| 280 |
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|
| 281 |
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| 291 |
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|
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|
| 293 |
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|
| 294 |
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{
|
| 295 |
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"id": "phone_20",
|
| 296 |
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|
| 297 |
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|
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|
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|
| 309 |
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|
| 310 |
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|
| 311 |
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"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
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"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
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"thresholds": {
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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},
|
| 320 |
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|
| 321 |
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"enabled": false,
|
| 322 |
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"mode": "advisory"
|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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|
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|
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|
| 329 |
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|
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|
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|
| 333 |
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]
|
| 334 |
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}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_05/qa/materialization_receipt.json
ADDED
|
@@ -0,0 +1,335 @@
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"allowed_changes": [
|
| 3 |
+
"robot_pos",
|
| 4 |
+
"robot_quat",
|
| 5 |
+
"robot_keypoints"
|
| 6 |
+
],
|
| 7 |
+
"child_sha256": {
|
| 8 |
+
"canonical_retarget_h5": "edf6c33c9b966f9e172f6fe0295c958ebc5de1710c14ae6e99ffc04825eff80a",
|
| 9 |
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"moving28_h5": "9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd"
|
| 10 |
+
},
|
| 11 |
+
"gate": "SHARPA_T0147_ALIGNED_MINIMAL_REPAIR_PASS",
|
| 12 |
+
"immutable_dataset_fingerprints_after": {
|
| 13 |
+
"mano_joint_coords": "8446b097aa2e3867f5201018732c98a52f08c556ac360805ffb1cb8510d6bde2",
|
| 14 |
+
"object_pos": "ad1485dc0b0a21d5c25324b304a26e0aa00c39b61677158c3cde72afab4ed886",
|
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objects/phone/releases/phone20-stage12-v1/episodes/phone_05/stage1/stage1.manifest.json
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"sha256": "871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a"
|
| 19 |
+
},
|
| 20 |
+
"duration_s": 11.03333,
|
| 21 |
+
"episode_id": "phone_05",
|
| 22 |
+
"frames": 663,
|
| 23 |
+
"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
+
"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
+
"object_rigid_from_mesh": true,
|
| 28 |
+
"time_sync": true
|
| 29 |
+
},
|
| 30 |
+
"qa": {
|
| 31 |
+
"A_object_position_norm_m": 5.553824967135427e-17,
|
| 32 |
+
"A_object_rotation_matrix_max_abs_error": 3.552713678800501e-15,
|
| 33 |
+
"phase_end": 1.0,
|
| 34 |
+
"phase_start": 0.0,
|
| 35 |
+
"phase_strictly_increasing": true,
|
| 36 |
+
"world_hand_joints_max_abs_error_m": 5.134781488891349e-16,
|
| 37 |
+
"world_hand_pose_from_objectMeshA_max_abs_error": 3.219646771412954e-15,
|
| 38 |
+
"world_hand_pose_from_objectMesh_max_abs_error": 3.4416913763379853e-15,
|
| 39 |
+
"world_mano_joints_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 40 |
+
"world_mano_vertices_float32_max_abs_error_m": 1.4901161193847656e-08,
|
| 41 |
+
"world_object_mesh_pose_max_abs_error": 3.6637359812630166e-15
|
| 42 |
+
},
|
| 43 |
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"recipe_id": "53d3566aff4a4e3af9a6bf59bf8598a9133c9045fc21ca2f7149c48646433f0a",
|
| 44 |
+
"recipe_version": "export_object_centric_human_demo_generic_v3",
|
| 45 |
+
"schema": "a2b_immutable_artifact_manifest_v1",
|
| 46 |
+
"sources": {
|
| 47 |
+
"corrected_artifact": {
|
| 48 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_05_corrected_world_v3_62f662e82818.npz",
|
| 49 |
+
"sha256": "c82174919413c402e3c04db94638add2bef9f28b441599ff4d6ca8f1ec294701"
|
| 50 |
+
},
|
| 51 |
+
"corrected_manifest": {
|
| 52 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_05_corrected_world_v3_62f662e82818.manifest.json",
|
| 53 |
+
"sha256": "489b558c13d94529092c9a7e11e71d5b5b6f46fd33ed279f152463f293d0d1ef"
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_05/stage2/reference_manifest.json
ADDED
|
@@ -0,0 +1,443 @@
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
| 1 |
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{
|
| 2 |
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"artifacts": {
|
| 3 |
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"human_demo_60hz.h5": {
|
| 4 |
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"bytes": 432840,
|
| 5 |
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"path": "human_demo_60hz.h5",
|
| 6 |
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"sha256": "d1489d0612041d1837a120f2d8babb4ae06550d23f3ac0bc6789e553e27a4336"
|
| 7 |
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|
| 8 |
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"retargeted_60fps.h5": {
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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}
|
| 13 |
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},
|
| 14 |
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"canonical_world_frame": "gravity_aligned_isaac_world",
|
| 15 |
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"episode_id": "phone_05",
|
| 16 |
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"frame_count": 663,
|
| 17 |
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"penetration_audit": {
|
| 18 |
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|
| 19 |
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"changed_frames": [
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 29 |
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|
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|
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|
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|
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|
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|
| 47 |
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"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 48 |
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"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
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|
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|
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|
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|
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|
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|
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| 432 |
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|
| 434 |
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|
| 435 |
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| 436 |
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|
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|
| 443 |
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}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_05/stage2_handoff.json
ADDED
|
@@ -0,0 +1,68 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"canonical_retarget_h5": {
|
| 4 |
+
"relative_path": "stage2/canonical_retarget.h5",
|
| 5 |
+
"sha256": "edf6c33c9b966f9e172f6fe0295c958ebc5de1710c14ae6e99ffc04825eff80a",
|
| 6 |
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"size_bytes": 885400
|
| 7 |
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},
|
| 8 |
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"human_demo_60hz_h5": {
|
| 9 |
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"relative_path": "stage2/human_demo_60hz.h5",
|
| 10 |
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|
| 11 |
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"size_bytes": 432840
|
| 12 |
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|
| 13 |
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"moving28_h5": {
|
| 14 |
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|
| 15 |
+
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|
| 16 |
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"size_bytes": 890096
|
| 17 |
+
},
|
| 18 |
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"reference_manifest": {
|
| 19 |
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"relative_path": "stage2/reference_manifest.json",
|
| 20 |
+
"sha256": "322c7be195ad458c2bdadd0d9303fc56c46977e56e9c86089bb59c5449670f0f",
|
| 21 |
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"size_bytes": 10957
|
| 22 |
+
},
|
| 23 |
+
"review_video": {
|
| 24 |
+
"relative_path": "qa/stage1_stage2_2x3.mp4",
|
| 25 |
+
"sha256": "9e71b627e427e62e5c834bc6059f1b3882f01f2c446d7b75a65d7f446f403d32",
|
| 26 |
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"size_bytes": 13099036
|
| 27 |
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},
|
| 28 |
+
"stage1_manifest": {
|
| 29 |
+
"relative_path": "inputs/stage1.manifest.json",
|
| 30 |
+
"sha256": "2799f1a05e82d22b2fb370780c828d70e6bb88eb59223a050aaaa1cc8f9f0ae5",
|
| 31 |
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"size_bytes": 2452
|
| 32 |
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|
| 33 |
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"stage1_npz": {
|
| 34 |
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"relative_path": "inputs/stage1.npz",
|
| 35 |
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"sha256": "871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a",
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| 36 |
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"size_bytes": 12976916
|
| 37 |
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|
| 38 |
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"validation_receipt": {
|
| 39 |
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"relative_path": "qa/stage2_validation.json",
|
| 40 |
+
"sha256": "bf567e59acae6e2b0227d8297a23349725d1aa50a335eb8c6b645e992583f6c9",
|
| 41 |
+
"size_bytes": 10420
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"dimensions": {
|
| 45 |
+
"action_dim": 28,
|
| 46 |
+
"finger_dof": 22,
|
| 47 |
+
"root_dof": 6
|
| 48 |
+
},
|
| 49 |
+
"episode_id": "phone_05",
|
| 50 |
+
"object_name": "phone",
|
| 51 |
+
"provenance": {
|
| 52 |
+
"git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
|
| 53 |
+
"git_dirty": false
|
| 54 |
+
},
|
| 55 |
+
"repair": {
|
| 56 |
+
"nonpenetration": "PASS",
|
| 57 |
+
"qa_status": "ACCEPTED",
|
| 58 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 59 |
+
"solver": "ClarabelSolver"
|
| 60 |
+
},
|
| 61 |
+
"schema": "reorientation_sharpa_stage2_handoff_v1",
|
| 62 |
+
"status": "STAGE2_HANDOFF_ACCEPTED",
|
| 63 |
+
"timeline": {
|
| 64 |
+
"frames": 663,
|
| 65 |
+
"policy_hz": 30.0,
|
| 66 |
+
"source_hz": 60.0
|
| 67 |
+
}
|
| 68 |
+
}
|
objects/phone/releases/phone20-stage12-v1/episodes/phone_20/qa/stage2_validation.json
ADDED
|
@@ -0,0 +1,139 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"canonical_source_derived": true,
|
| 4 |
+
"clone_local_paths": true,
|
| 5 |
+
"frame_count_and_60hz": true,
|
| 6 |
+
"hard_nonpenetration_measured": true,
|
| 7 |
+
"joint_names_order_and_limits": true,
|
| 8 |
+
"moving28_immutable_arrays_preserved": true,
|
| 9 |
+
"moving28_parent_hash_bound": true,
|
| 10 |
+
"pip_dip_coupling": true,
|
| 11 |
+
"quaternion_finite_unit": true,
|
| 12 |
+
"review_video_parent_submillimeter_equivalence": true,
|
| 13 |
+
"root_continuity": true
|
| 14 |
+
},
|
| 15 |
+
"continuity_jointlimit": {
|
| 16 |
+
"checks": {
|
| 17 |
+
"continuity_preserved": true,
|
| 18 |
+
"finite": true,
|
| 19 |
+
"joint_limits": true,
|
| 20 |
+
"joint_names_order": true,
|
| 21 |
+
"pip_dip_coupling": true,
|
| 22 |
+
"quaternion_unit": true,
|
| 23 |
+
"repair_submillimeter": true,
|
| 24 |
+
"timestamps_60hz_strict": true
|
| 25 |
+
},
|
| 26 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 27 |
+
"max_joint_step_rad": 0.12670909734126612,
|
| 28 |
+
"max_root_repair_delta_m": 2.8488295306124974e-05,
|
| 29 |
+
"max_root_rotation_step_rad": 0.19612185103189844,
|
| 30 |
+
"max_root_translation_step_child_m": 0.019115698895359193,
|
| 31 |
+
"max_root_translation_step_parent_m": 0.019115698895359193,
|
| 32 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 33 |
+
},
|
| 34 |
+
"gate": "ACTUATOR_PARITY_STAGE2_INPUT_PASS",
|
| 35 |
+
"penetration_audit": {
|
| 36 |
+
"changed_frame_count": 2,
|
| 37 |
+
"changed_frames": [
|
| 38 |
+
0,
|
| 39 |
+
299
|
| 40 |
+
],
|
| 41 |
+
"frame_count": 830,
|
| 42 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 43 |
+
"max_penetration_depth_m": 0.0010003834339836345,
|
| 44 |
+
"max_rotation_delta_deg": 0.0,
|
| 45 |
+
"max_translation_delta_m": 2.8488295306124974e-05,
|
| 46 |
+
"max_violation_m": 3.8343398363446975e-07,
|
| 47 |
+
"numerical_epsilon_m": 2e-06,
|
| 48 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 49 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 50 |
+
"steps": [
|
| 51 |
+
{
|
| 52 |
+
"frame": 0,
|
| 53 |
+
"geometry_names": [
|
| 54 |
+
"right_sharpa_wave::Mesh",
|
| 55 |
+
"phone::Mesh_1"
|
| 56 |
+
],
|
| 57 |
+
"pre_repair_violation_m": 2.478187121991932e-06,
|
| 58 |
+
"robot_root_translation_delta_m": [
|
| 59 |
+
-2.5430652543062988e-06,
|
| 60 |
+
-6.362320675766256e-06,
|
| 61 |
+
2.9961604367228455e-06
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"frame": 299,
|
| 66 |
+
"geometry_names": [
|
| 67 |
+
"right_sharpa_wave::Mesh",
|
| 68 |
+
"phone::Mesh_1"
|
| 69 |
+
],
|
| 70 |
+
"pre_repair_violation_m": 2.3488295306122765e-05,
|
| 71 |
+
"robot_root_translation_delta_m": [
|
| 72 |
+
1.1172881540522416e-05,
|
| 73 |
+
2.5867243548644032e-05,
|
| 74 |
+
4.199452193494255e-06
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
],
|
| 78 |
+
"tolerance_m": 0.001,
|
| 79 |
+
"violating_frame_count": 0,
|
| 80 |
+
"violating_frames": [],
|
| 81 |
+
"worst_depth": {
|
| 82 |
+
"depth_m": 0.0010003834339836345,
|
| 83 |
+
"frame": 430,
|
| 84 |
+
"geometry_names": [
|
| 85 |
+
"right_sharpa_wave::Mesh",
|
| 86 |
+
"phone::Mesh_1"
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"worst_violation_pairs": []
|
| 90 |
+
},
|
| 91 |
+
"required_qa": {
|
| 92 |
+
"action_dim": 28,
|
| 93 |
+
"continuity": true,
|
| 94 |
+
"finger_dof": 22,
|
| 95 |
+
"hard_nonpenetration": true,
|
| 96 |
+
"kinematic_only": true,
|
| 97 |
+
"pip_dip_coupling": true,
|
| 98 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 99 |
+
"solver": "ClarabelSolver"
|
| 100 |
+
},
|
| 101 |
+
"review_video": {
|
| 102 |
+
"max_unrendered_root_translation_delta_m": 2.8488295306124974e-05,
|
| 103 |
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"release_penetration_tolerance_m": 0.001,
|
| 104 |
+
"sha256": "be56060b63260bace5728189da6538bb0df10f7205029924bb8efbd1080a2cd7",
|
| 105 |
+
"source": "T0-147-aligned parent render",
|
| 106 |
+
"user_accepted_submillimeter_equivalence": true
|
| 107 |
+
},
|
| 108 |
+
"schema": "sharpa_actuatorparity_stage2_input_validation_v1",
|
| 109 |
+
"training_h5": {
|
| 110 |
+
"frames": 830,
|
| 111 |
+
"joint_count": 22,
|
| 112 |
+
"joint_names": [
|
| 113 |
+
"right_thumb_CMC_FE",
|
| 114 |
+
"right_thumb_CMC_AA",
|
| 115 |
+
"right_thumb_MCP_FE",
|
| 116 |
+
"right_thumb_MCP_AA",
|
| 117 |
+
"right_thumb_IP",
|
| 118 |
+
"right_index_MCP_FE",
|
| 119 |
+
"right_index_MCP_AA",
|
| 120 |
+
"right_index_PIP",
|
| 121 |
+
"right_index_DIP",
|
| 122 |
+
"right_middle_MCP_FE",
|
| 123 |
+
"right_middle_MCP_AA",
|
| 124 |
+
"right_middle_PIP",
|
| 125 |
+
"right_middle_DIP",
|
| 126 |
+
"right_ring_MCP_FE",
|
| 127 |
+
"right_ring_MCP_AA",
|
| 128 |
+
"right_ring_PIP",
|
| 129 |
+
"right_ring_DIP",
|
| 130 |
+
"right_pinky_CMC",
|
| 131 |
+
"right_pinky_MCP_FE",
|
| 132 |
+
"right_pinky_MCP_AA",
|
| 133 |
+
"right_pinky_PIP",
|
| 134 |
+
"right_pinky_DIP"
|
| 135 |
+
],
|
| 136 |
+
"policy_action_dim": 28,
|
| 137 |
+
"sha256": "fe11f7ecc2af785d7d8c2d62cad8828ebf763bce1b30376428d09b29f2b5e82b"
|
| 138 |
+
}
|
| 139 |
+
}
|
objects/phone/releases/phone20-stage12-v1/release_manifest.json
ADDED
|
@@ -0,0 +1,2104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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| 1 |
+
{
|
| 2 |
+
"episode_count": 20,
|
| 3 |
+
"episodes": [
|
| 4 |
+
{
|
| 5 |
+
"episode_id": "phone_01",
|
| 6 |
+
"handoff_sha256": "21ebc02e61f12e0ef0f8cac0eba63c84e22332893c84c9fb6a4a6740fec3bc8a",
|
| 7 |
+
"status": "STAGE2_HANDOFF_ACCEPTED"
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"episode_id": "phone_02",
|
| 11 |
+
"handoff_sha256": "4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69",
|
| 12 |
+
"status": "STAGE2_HANDOFF_ACCEPTED"
|
| 13 |
+
},
|
| 14 |
+
{
|
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