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  "notes": "Two independent native executions match exactly. This failed source-oracle episode is not a successful task evaluation, learned-policy result, suite score, or hardware trial. Native physics-node and graphics-instance poses are both retained; visuals follow the recorded graphics stream. Nominal timing fields do not replace measured timestamps. Terminated/truncated are publication classifications of Habitat episode_over at the source horizon; the raw native flag remains in sample.native.",
  "origin": "site-generated",
  "overlays": {
    "contacts": false,
    "reward": true,
    "sensors": false
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  "provenance": {
    "asset_licence": "CC-BY-4.0 ReplicaCAD/YCB; CC-BY-NC-SA-4.0 Fetch",
    "code_licence": "MIT",
    "gym_id": "NavToObjTask-v0",
    "licence": "MIT code; CC-BY-4.0 ReplicaCAD/YCB; CC-BY-NC-SA-4.0 Fetch",
    "protocol": "Unmodified NavToObjTask-v0, official ReplicaCAD minival episode 0, seed 0, FetchSuctionRobot. Add source OracleNavCoordinateAction with source defaults; mode 1 samples an approach point around the source goal. Call stop only when original position/angle measures qualify. Preserve original 400-action horizon and failed outcome. Source base velocity is NavMesh-constrained; not wheel dynamics or a learned policy. Raw native rows and separate physics/graphics poses remain retained. qpos/qvel concatenate 39 native articulated channels in the order documented in navigation-evidence.json; replay drives recorded body frames, not inferred joint kinematics.",
    "robot_id": "habitat-replicacad.robot.fetch-suction",
    "runner": {
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      "python_version": "3.9.23",
      "simulator": "Habitat-Lab / Habitat-Sim / Bullet",
      "simulator_version": "0.3.3",
      "version": "1"
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    "scene": {
      "href": "/worlds/habitat/scenes/navigation.scene.json",
      "id": "habitat-replicacad.scene.v3-sc3-staging-18.seed0",
      "kind": "recorded-demonstration-scene",
      "notes": "One source ReplicaCAD apartment; 48 rigid objects and 7 articulations including Fetch. No semantic room names are supplied. Habitat is the simulator/task stack; ReplicaCAD is the dataset, not HM3D."
    },
    "scene_id": "habitat-replicacad.scene.v3-sc3-staging-18.seed0",
    "seed": 0,
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        "path": "/worlds/habitat/native/native.navmesh",
        "sha256": "5d74904fe12f07463e61297983e7afeee9d725d1dc9e00313632026c12397f77"
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        "path": "/worlds/habitat/native/native-navmesh.json",
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      {
        "path": "/worlds/habitat/native/resolved-config.yaml",
        "sha256": "b998184c3cb88ca147f54456766927fd63d4628bcf957ef41540346540f7bff0"
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      {
        "path": "/worlds/habitat/native/native-physics-config.json",
        "sha256": "cd4ee6327ad4e592fafb87b44d7051b18513846690980f2709feec65fe5ebf61"
      },
      {
        "path": "/worlds/habitat/native/reset-head-rgb.png",
        "sha256": "a87ce800840213fe578a4ba660905a284b130628c211eba183fdf9d021e93243"
      },
      {
        "path": "/worlds/habitat/native/final-head-rgb.png",
        "sha256": "0421e4fcb808742fd5793cb928588eac4454e99f61311d77ac9d611bea611424"
      },
      {
        "path": "/worlds/habitat/scenes/navigation.scene.json",
        "sha256": "ba91412ed2dcdb0d03843e19c91857233612df7f3b87d9462554a0ac1898f6bf"
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      {
        "path": "scripts/worlds/record_habitat_navigation.py",
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    "source_url": "https://github.com/facebookresearch/habitat-lab/tree/094d6be2f9d057e4781a68ae792132895fd4d3d0",
    "suite_id": "habitat-replicacad",
    "task_id": "habitat-replicacad.task.nav-to-object",
    "version_id": "habitat-replicacad.094d6be2f9d057e4781a68ae792132895fd4d3d0"
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