{
  "schema_version": 1,
  "task": "handover_block",
  "seed": 0,
  "native_success": true,
  "phases": [
    {
      "phase": "plan",
      "raw_sha256": "3e07f759e1eaf0da15e03941ac0de863975aa1c6306935125a589fd5f8dd659d",
      "states": 3787,
      "bodies_per_state": 59,
      "native_success": true,
      "first_success_physics_step": 3647,
      "all_body_pose_codec": {
        "points_per_body": 4,
        "basis_length_m": 0.1,
        "max_error_m": 4.5246864233128294e-08,
        "worst": {
          "physics_step": 1047,
          "body": "fl_link2"
        },
        "method": "Original native recorded xpos/wxyz -> SAPIEN Pose transform versus independent replay quaternion decoding. Includes every recorded robot and task body at every physics sample; does not claim a new physics rollout."
      },
      "live_source_urdf_fk": {
        "samples": 3787,
        "bodies_per_sample": 54,
        "points_per_body": 4,
        "basis_length_m": 0.1,
        "tolerance_m": 1e-05,
        "max_basis_point_error_m": 6.262704895787508e-07,
        "worst": {
          "physics_step": 241,
          "body": "fl_link7",
          "max_basis_point_error_m": 6.262704895787508e-07
        },
        "method": "Independent source-URDF forward kinematics from each native qpos versus native PhysX link transforms; origin plus 0.1m XYZ basis points at every physics sample. Native root pose supplies the floating world transform."
      }
    },
    {
      "phase": "repeat",
      "raw_sha256": "55aab1bd58059bc2e78c24d1274bcc9d0917550cb68fb1ae72d568ceb63c0b3e",
      "states": 3787,
      "bodies_per_state": 59,
      "native_success": true,
      "first_success_physics_step": 3647,
      "all_body_pose_codec": {
        "points_per_body": 4,
        "basis_length_m": 0.1,
        "max_error_m": 4.5246864233128294e-08,
        "worst": {
          "physics_step": 1047,
          "body": "fl_link2"
        },
        "method": "Original native recorded xpos/wxyz -> SAPIEN Pose transform versus independent replay quaternion decoding. Includes every recorded robot and task body at every physics sample; does not claim a new physics rollout."
      },
      "live_source_urdf_fk": {
        "samples": 3787,
        "bodies_per_sample": 54,
        "points_per_body": 4,
        "basis_length_m": 0.1,
        "tolerance_m": 1e-05,
        "max_basis_point_error_m": 6.262704895787508e-07,
        "worst": {
          "physics_step": 241,
          "body": "fl_link7",
          "max_basis_point_error_m": 6.262704895787508e-07
        },
        "method": "Independent source-URDF forward kinematics from each native qpos versus native PhysX link transforms; origin plus 0.1m XYZ basis points at every physics sample. Native root pose supplies the floating world transform."
      }
    }
  ],
  "producer_sha256": "5cde905956d0fa3f0ed6e206b1f9cd1d83b440337c9bf2d0a731575da47266bd",
  "repeat_difference": {
    "max_qpos_absolute_difference": 0.0,
    "max_body_position_absolute_difference_m": 0.0
  },
  "source_hdf5": {
    "path": "official-data/data/episode_0000000.hdf5",
    "bytes": 15344816,
    "sha256": "410fe1fcc9ef9a40dfffbb0e118df3c3c7d13d6673ce0fa65618cdc844bfc31b",
    "state_action_pairs": 284,
    "source_picture_frames": 285,
    "source_format": "RoboTwin",
    "source_frequency_field": 15,
    "alignment": "Unmodified upstream writer pairs source frames[:-1] with frames[1:]. Its frequency field receives save_freq=15 (a physics-step sampling interval, not measured Hz). Picture-to-physics-step mapping is preserved in protocol.json; full native states/applied targets remain in physics.jsonl.gz."
  },
  "horizon": null,
  "official_max_episode_steps": null,
  "separate_evaluation_take_action_limit": 800,
  "native_runtime_patches": [],
  "notes": "Fresh official expert native success plus fresh native execution of its planned paths. No prerecorded dataset was used, no task predicate changed, no robot/object state teleport completion. Browser states are display transport only."
}