{ "cases": [ { "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-complete", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/native-fresh-01-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-01-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/ba9720094d9f093b3e976bab83d76228fe5974c6042d7b82a6815a914c2482c4.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-occluded", "layout_id": "fresh-01", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-01-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-01-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-01-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-01-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/a1614c72747d59e153cf2a5379bacaf9716b2240a1395408d93cb76fb428e5cd.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-wrong_position", "layout_id": "fresh-01", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546557188912078e-10, "complete": false, "linear_speed_m_s": 8.405858605124918e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996937695405, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.19118242994476e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-01-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-01-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-01-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-01-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/64c0ff8b73370df8fb8659c6e1dc96a2e9074d9957dddebd7f0396c894e0a2f9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-wrong_orientation", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547189983637771e-10, "complete": false, "linear_speed_m_s": 8.406512498573426e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418421960358e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-01-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-01-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-01-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-01-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/c3b4436320d6ce2db274e6ed821e78c8218cd2eedb5f8d765dbfc9e98103bd95.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-missing_target", "layout_id": "fresh-01", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-01-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-01-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-01-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-01-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/daf3c96be603ee3ca355e9d971b7b7826ce273eb600d8eaf44b2775ce18a1a2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-wrong_object", "layout_id": "fresh-01", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-01-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-01-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-01-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-unreleased", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-01-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-01-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-01-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-01-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-sustained_motion", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-01-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-01-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-01-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-01-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-instant_alias", "layout_id": "fresh-01", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-01-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-01-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-01-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-01-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/e3e5fa50635d4d197bfcdcbe37581aaadb69e512e562dbab3e1cb85d3ba6e8de.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-yaw_flip180", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547064937635123e-10, "complete": false, "linear_speed_m_s": 8.406390667545483e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418409595156e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-01-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-01-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-01-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-01-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-lookalike_wrongobject", "layout_id": "fresh-01", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-01-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-01-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-01-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-01-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/076734bb32a80fc8834167e231b98cf5f0a25a4adfded42bb97c59ecdd528443.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-elevated_support", "layout_id": "fresh-01", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547640449188617e-10, "complete": false, "linear_speed_m_s": 8.406883389657325e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418446875351e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191181361355099e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-01-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-01-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-complete", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/native-fresh-02-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-02-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/306f7327d679efbd444be10c31071a16231ec507b5475f4d6daf3f8e869bff11.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-occluded", "layout_id": "fresh-02", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-02-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-02-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-02-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-02-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/d872c795adf78d2062380efdd091dab84c5a8e904dd87d4065bb5dd9511a0a2a.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-wrong_position", "layout_id": "fresh-02", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.544805675398738e-10, "complete": false, "linear_speed_m_s": 8.404209020016126e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997549377416, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839773181008e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-02-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-02-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-02-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-02-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/b139dbf02cd58ff3a16008313c8d2cff2d40657c5337a27ae8ee2729373b2c23.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-wrong_orientation", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546321688490891e-10, "complete": false, "linear_speed_m_s": 8.405701843537689e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418369222989e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-02-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-02-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-02-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-02-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/07b0f7ff8f9ac476c14a0475abaecd3b8d632826679a65201ea152436ad571e8.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-missing_target", "layout_id": "fresh-02", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-02-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-02-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-02-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-02-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/729bb6ade187bbea921807e252ea3fd379477f27cfb775c3a78129d8ab2672e9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-wrong_object", "layout_id": "fresh-02", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-02-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-02-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-02-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-unreleased", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-02-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-02-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-02-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-02-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-sustained_motion", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-02-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-02-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-02-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-02-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-instant_alias", "layout_id": "fresh-02", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-02-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-02-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-02-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-02-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/4ed83c106b621b02aef5191a3ff2f7b8a155a29eae068703936d6771dace193a.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-yaw_flip180", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545509020662092e-10, "complete": false, "linear_speed_m_s": 8.404882592832254e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418317007579e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-02-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-02-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-02-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-02-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-lookalike_wrongobject", "layout_id": "fresh-02", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-02-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-02-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-02-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-02-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/815e302234337e96628bde33a6c267192bd4ac5bfd19f1663ee1984686d5d6e0.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-elevated_support", "layout_id": "fresh-02", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546554220807077e-10, "complete": false, "linear_speed_m_s": 8.405871131703907e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418388562781e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911823258613516e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-02-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-02-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-complete", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/native-fresh-03-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-03-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/c69781e4073c509c8265419077d2abafb0422d5371bad3a1565b63f895770fcb.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-occluded", "layout_id": "fresh-03", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-03-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-03-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-03-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-03-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be62bde03409f753e81cf075477d04f522bad6399189593b13d252d6b06fd9bf.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-wrong_position", "layout_id": "fresh-03", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.5458195528373e-10, "complete": false, "linear_speed_m_s": 8.405169121733525e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997005279738, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911832626120287e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-03-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-03-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-03-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-03-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/593e13896b67a3eaa4f1f274bdff77d4ae5c86be6c6d9db84054ac79f6fc5db1.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-wrong_orientation", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546324067929553e-10, "complete": false, "linear_speed_m_s": 8.405671769550844e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418367909795e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037162 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-03-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-03-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-03-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-03-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/78b1e8f5694a44a3813b0e667afbe8fa5aa75d28a033d97c4fca3062e2e90c7e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-missing_target", "layout_id": "fresh-03", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-03-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-03-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-03-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-03-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/c86283697af271fc05c45e6bc7fabe617100c3eb0f974c053bf464c65a467fc2.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-wrong_object", "layout_id": "fresh-03", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-03-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-03-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-03-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-unreleased", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-03-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-03-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-03-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-03-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-sustained_motion", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-03-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-03-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-03-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-03-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-instant_alias", "layout_id": "fresh-03", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-03-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-03-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-03-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-03-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/3b9619c568e577356155a623170d0c2f5beb753036baec1d2d9b44f7ee0409e4.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-yaw_flip180", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545571555938663e-10, "complete": false, "linear_speed_m_s": 8.404968041245966e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418345847427e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-03-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-03-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-03-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-03-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-lookalike_wrongobject", "layout_id": "fresh-03", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-03-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-03-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-03-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-03-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be96f6b422b56fc3f04c202d2221feae40b9ef9e6b5a62557d70a9c0b8479696.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-elevated_support", "layout_id": "fresh-03", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545823782001341e-10, "complete": false, "linear_speed_m_s": 8.405122152250802e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418338238117e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911834707788458e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-03-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-03-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-complete", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/native-fresh-04-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-04-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/b3b1a613fa3c5f6e89fd38a9dead387c0c575283b0bb5307c5aaad2811985ca7.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-occluded", "layout_id": "fresh-04", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-04-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-04-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-04-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-04-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7741fdc5c20dd5ee0623d0bc5d61acbda181412efd4388e9e1f5b0a38534293e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-wrong_position", "layout_id": "fresh-04", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545350784916803e-10, "complete": false, "linear_speed_m_s": 8.404683633306893e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996950551746, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911838732346922e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-04-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-04-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-04-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-04-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7685073843e4aa5db281438a69635db5f0610316082d2620d97ce81e39d15039.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-wrong_orientation", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545087637567077e-10, "complete": false, "linear_speed_m_s": 8.40451987767496e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418333415149e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-04-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-04-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-04-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-04-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/18337c7013616fa0945ad709cba4d57d5bc8cd15a1d001e227d4a35e0f6cf724.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-missing_target", "layout_id": "fresh-04", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-04-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-04-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-04-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-04-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/8d8b0c251a929e2a4cb2ba5883d3260c881355db3b9e54113e356d465fbf2699.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-wrong_object", "layout_id": "fresh-04", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-04-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-04-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-04-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-unreleased", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-04-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-04-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-04-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-04-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-sustained_motion", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-04-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-04-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-04-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-04-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-instant_alias", "layout_id": "fresh-04", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-04-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-04-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-04-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-04-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/06f42aa509969f6691d2b2cf437670396af3281c40f6d558ea3c73fa6ad677b2.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-yaw_flip180", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545323934370644e-10, "complete": false, "linear_speed_m_s": 8.404693016049237e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418302683053e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986094 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-04-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-04-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-04-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-04-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-lookalike_wrongobject", "layout_id": "fresh-04", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-04-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-04-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-04-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-04-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/14b234fbf12884785701047fece849c794434cceed78956bc1bdd8bc47c01f08.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-elevated_support", "layout_id": "fresh-04", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545302020576641e-10, "complete": false, "linear_speed_m_s": 8.404705087605508e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.085741830534689e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911837899679654e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-04-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-04-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-complete", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/native-fresh-05-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-05-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/5d5af62f1f090c38c2db856fb755b589aef7e5b504d824a4d2aebf536d214344.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-occluded", "layout_id": "fresh-05", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-05-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-05-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-05-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-05-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/aecde7900f1024f37a0f2a146cd70885fdcf46c94fa29fb45a8b5b3dc7c6c7bc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-wrong_position", "layout_id": "fresh-05", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545926629864602e-10, "complete": false, "linear_speed_m_s": 8.405262771484578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998760799243, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831377119384e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-05-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-05-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-05-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-05-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/79966e41eb412c9445456b8e44679fd11171e9b0d3ded9474e534c5aee28526c.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-wrong_orientation", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545657787858832e-10, "complete": false, "linear_speed_m_s": 8.405024814708074e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352739997e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-05-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-05-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-05-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-05-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/7c484c0f708a89fb6e55a1df48e69869cfa46e4951701d1e79af91e3b48f3aae.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-missing_target", "layout_id": "fresh-05", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-05-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-05-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-05-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-05-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/071825e5d8b45e3915dee401a9db7e3271293dcf9e6c1bec3e130b143a60ab54.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-wrong_object", "layout_id": "fresh-05", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-05-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-05-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-05-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-unreleased", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-05-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-05-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-05-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-05-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-sustained_motion", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-05-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-05-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-05-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-05-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-instant_alias", "layout_id": "fresh-05", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-05-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-05-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-05-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-05-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/a4abd85ce1abf4bd2a5ae4b717ae120672b41b9dcd6f032722c1cd54c614e59c.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-yaw_flip180", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545941378365255e-10, "complete": false, "linear_speed_m_s": 8.405322527252024e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418357304478e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986103 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-05-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-05-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-05-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-05-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-lookalike_wrongobject", "layout_id": "fresh-05", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-05-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-05-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-05-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-05-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/94afe532d87614b8f2be291251287bc8a56e11869b625038206c8f0b168acc13.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-elevated_support", "layout_id": "fresh-05", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546714190956518e-10, "complete": false, "linear_speed_m_s": 8.406005225034952e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418391138659e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182513211487e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-05-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-05-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-complete", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/native-fresh-06-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-06-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/db08b13c84ec82fededa4f692b66c216b3591ab39b691ac7d8fd193e20b9f459.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-occluded", "layout_id": "fresh-06", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-06-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-06-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-06-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-06-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/543e7b00b33c7de9db97cbda361380533a876bb602e4cd48f6356c06c9f4db92.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-wrong_position", "layout_id": "fresh-06", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.548138189400613e-10, "complete": false, "linear_speed_m_s": 8.407371002321903e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998429721178, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810560437672e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-06-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-06-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-06-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-06-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/65e970ebfda9a06aa3fea0fb7e7630886e80c23fa5ea402d3c0af3fdcd73e936.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-wrong_orientation", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546864723494792e-10, "complete": false, "linear_speed_m_s": 8.406202720929996e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418435704144e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-06-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-06-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-06-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-06-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/2dc08bbabd42da97f2bf56895ae72b858ba058485de1c4296110fc410dbe2850.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-missing_target", "layout_id": "fresh-06", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-06-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-06-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-06-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-06-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a1a6aaaa1920a7cb6f0921ba79111e0e7155cd68a9b528ca29bc1959e89c029a.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-wrong_object", "layout_id": "fresh-06", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-06-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-06-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-06-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-unreleased", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-06-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-06-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-06-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-06-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-sustained_motion", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-06-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-06-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-06-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-06-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-instant_alias", "layout_id": "fresh-06", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-06-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-06-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-06-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-06-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/95c7f03fb7f8e63f2bb8033f26c937b07c72731d771fda149380a7ccc6b17092.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-yaw_flip180", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546934599004083e-10, "complete": false, "linear_speed_m_s": 8.406301412864975e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418419965155e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986117 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-06-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-06-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-06-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-06-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-lookalike_wrongobject", "layout_id": "fresh-06", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-06-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-06-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-06-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-06-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a922ff2407b84bf50f6bcbcd6f9314b3229e3a13a123d27ae3af03c957615d9b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-elevated_support", "layout_id": "fresh-06", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54680563708664e-10, "complete": false, "linear_speed_m_s": 8.406143094976067e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418406233275e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911821385112162e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-06-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-06-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-complete", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/native-fresh-07-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-07-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/f2c0b74f80f43b6a0e8e6ca6493d321ca84063154f7b5f652c035c066ac0fe07.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-occluded", "layout_id": "fresh-07", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-07-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-07-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-07-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-07-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/f0d87064efe040a6b37638851e07451dd2f2f3983cb52d901ea63ed5f7ff2a04.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-wrong_position", "layout_id": "fresh-07", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546452315141569e-10, "complete": false, "linear_speed_m_s": 8.405762505522344e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996806381232, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911826242337895e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-07-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-07-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-07-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-07-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/5ca2c885817be19f4d3fc90110b00b098d6960bae35cd6c0f8977c5da0c46fcc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-wrong_orientation", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545687918402713e-10, "complete": false, "linear_speed_m_s": 8.405115277989858e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418346656895e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037153 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-07-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-07-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-07-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-07-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/dade033929d82c36c8f29022876bcd0ec3aceb3a45c1e4cd069441a2dad8b3aa.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-missing_target", "layout_id": "fresh-07", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-07-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-07-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-07-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-07-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/45299cea09da246e8b79163dcf82fcae45de1b1c08f8bdcdb0a15f9e9db6b4a5.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-wrong_object", "layout_id": "fresh-07", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-07-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-07-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-07-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-unreleased", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-07-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-07-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-07-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-07-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-sustained_motion", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-07-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-07-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-07-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-07-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-instant_alias", "layout_id": "fresh-07", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-07-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-07-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-07-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-07-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/4c96576481bbda1a77cee247eed5890ca9ae3a374d0263f0824b54cc56128b96.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-yaw_flip180", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545481339570781e-10, "complete": false, "linear_speed_m_s": 8.404857103254578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418318903458e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-07-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-07-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-07-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-07-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-lookalike_wrongobject", "layout_id": "fresh-07", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-07-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-07-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-07-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-07-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/ea96468935076c02905593b5ac5571bbba19a2a7526394a1541b7ba802f44b56.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-elevated_support", "layout_id": "fresh-07", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546572397627967e-10, "complete": false, "linear_speed_m_s": 8.405910805239593e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418394507453e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182374433609e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-07-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-07-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-complete", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/native-fresh-08-occluded-actuators.json", "camera_packet_file": "packets/native-fresh-08-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/991875b9ffbc45b15101216ac6871dd0f5b04f5bf99d4b9b5eafc1c606414457.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-occluded", "layout_id": "fresh-08", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-08-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-08-occluded.json" }, { "actuator_packet_file": "packets/native-fresh-08-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-08-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/5c7a5235bc7a3154573f648d77ffe4814064af351b9414755ed6002e6a05544f.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-wrong_position", "layout_id": "fresh-08", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545753822341206e-10, "complete": false, "linear_speed_m_s": 8.405144723544146e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998103014372, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911830475063176e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-08-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-08-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-08-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-08-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/551b60ecd885f73d6c56355c56fe86c7cdee8fa6bf39545662456c652cda56a1.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-wrong_orientation", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54599920050319e-10, "complete": false, "linear_speed_m_s": 8.405333880657776e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418322845445e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-08-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-08-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-08-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-08-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/cc799d4024179ccf8183bd7a955f8b5e396b733a1a222a1e628f7176457292c1.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-missing_target", "layout_id": "fresh-08", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-08-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-08-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-08-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-08-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/15643bca6e60b17f443cbbab9488310862830ac291cc09099f3e2d80e1022760.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-wrong_object", "layout_id": "fresh-08", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-08-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-08-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-08-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-unreleased", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-08-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-08-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-08-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-08-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-sustained_motion", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-08-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-08-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-08-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-08-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-instant_alias", "layout_id": "fresh-08", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-08-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-08-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-08-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-08-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/291367f3918e277dbd50197484069413e420c317e897297e74e75743d2955b12.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-yaw_flip180", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546739189346011e-10, "complete": false, "linear_speed_m_s": 8.406029660161011e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418404831404e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-08-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-08-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-08-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-08-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-lookalike_wrongobject", "layout_id": "fresh-08", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-08-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-08-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-08-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-08-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/37d23928bdfcc8df129b07a744bb2e08313b9d73fd167334bc08a3a1f15832d5.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-elevated_support", "layout_id": "fresh-08", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545344036236508e-10, "complete": false, "linear_speed_m_s": 8.404736526497026e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418320112581e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191183526289997e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-08-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-08-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-01-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-01-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/a1614c72747d59e153cf2a5379bacaf9716b2240a1395408d93cb76fb428e5cd.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-wrong_position", "layout_id": "fresh-01", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546557188912078e-10, "complete": false, "linear_speed_m_s": 8.405858605124918e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996937695405, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.19118242994476e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-01-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-01-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-01-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/64c0ff8b73370df8fb8659c6e1dc96a2e9074d9957dddebd7f0396c894e0a2f9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-wrong_orientation", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547189983637771e-10, "complete": false, "linear_speed_m_s": 8.406512498573426e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418421960358e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-01-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-01-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-01-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/c3b4436320d6ce2db274e6ed821e78c8218cd2eedb5f8d765dbfc9e98103bd95.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-missing_target", "layout_id": "fresh-01", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-01-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-01-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-01-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/daf3c96be603ee3ca355e9d971b7b7826ce273eb600d8eaf44b2775ce18a1a2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-wrong_object", "layout_id": "fresh-01", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-01-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-01-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-unreleased", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-01-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-01-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-01-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-sustained_motion", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-01-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-01-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-01-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-instant_alias", "layout_id": "fresh-01", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-01-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-01-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-01-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/e3e5fa50635d4d197bfcdcbe37581aaadb69e512e562dbab3e1cb85d3ba6e8de.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-yaw_flip180", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547064937635123e-10, "complete": false, "linear_speed_m_s": 8.406390667545483e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418409595156e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-01-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-01-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-01-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-lookalike_wrongobject", "layout_id": "fresh-01", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-01-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-01-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-01-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/076734bb32a80fc8834167e231b98cf5f0a25a4adfded42bb97c59ecdd528443.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-elevated_support", "layout_id": "fresh-01", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547640449188617e-10, "complete": false, "linear_speed_m_s": 8.406883389657325e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418446875351e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191181361355099e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-01-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "camera_packet_file": "packets/fresh-01-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_missing", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "camera_packet_file": "packets/fresh-01-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_stale", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "camera_packet_file": "packets/fresh-01-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_gap", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "camera_packet_file": "packets/fresh-01-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_bad_calibration_id", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/fresh-01-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_missing", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/fresh-01-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_stale", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/fresh-01-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_gap", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/fresh-01-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_wrong_units", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-01-complete.json" }, { "actuator_packet_file": "packets/native-fresh-01-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-01-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-refreshed_camera_replay", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-01-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-01-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forged_encoder_only", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-01-unreleased.json" }, { "actuator_packet_file": "packets/fresh-01-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forged_effort_only", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-01-unreleased.json" }, { "actuator_packet_file": "packets/fresh-01-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-01-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-all_channels_forged", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-01-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-02-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-02-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/d872c795adf78d2062380efdd091dab84c5a8e904dd87d4065bb5dd9511a0a2a.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-wrong_position", "layout_id": "fresh-02", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.544805675398738e-10, "complete": false, "linear_speed_m_s": 8.404209020016126e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997549377416, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839773181008e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-02-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-02-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-02-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/b139dbf02cd58ff3a16008313c8d2cff2d40657c5337a27ae8ee2729373b2c23.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-wrong_orientation", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546321688490891e-10, "complete": false, "linear_speed_m_s": 8.405701843537689e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418369222989e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-02-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-02-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-02-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/07b0f7ff8f9ac476c14a0475abaecd3b8d632826679a65201ea152436ad571e8.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-missing_target", "layout_id": "fresh-02", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-02-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-02-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-02-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/729bb6ade187bbea921807e252ea3fd379477f27cfb775c3a78129d8ab2672e9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-wrong_object", "layout_id": "fresh-02", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-02-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-02-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-unreleased", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-02-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-02-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-02-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-sustained_motion", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-02-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-02-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-02-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-instant_alias", "layout_id": "fresh-02", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-02-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-02-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-02-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/4ed83c106b621b02aef5191a3ff2f7b8a155a29eae068703936d6771dace193a.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-yaw_flip180", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545509020662092e-10, "complete": false, "linear_speed_m_s": 8.404882592832254e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418317007579e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-02-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-02-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-02-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-lookalike_wrongobject", "layout_id": "fresh-02", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-02-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-02-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-02-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/815e302234337e96628bde33a6c267192bd4ac5bfd19f1663ee1984686d5d6e0.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-elevated_support", "layout_id": "fresh-02", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546554220807077e-10, "complete": false, "linear_speed_m_s": 8.405871131703907e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418388562781e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911823258613516e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-02-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "camera_packet_file": "packets/fresh-02-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_missing", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "camera_packet_file": "packets/fresh-02-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_stale", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "camera_packet_file": "packets/fresh-02-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_gap", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "camera_packet_file": "packets/fresh-02-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_bad_calibration_id", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/fresh-02-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_missing", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/fresh-02-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_stale", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/fresh-02-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_gap", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/fresh-02-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_wrong_units", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-02-complete.json" }, { "actuator_packet_file": "packets/native-fresh-02-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-02-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-refreshed_camera_replay", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-02-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-02-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forged_encoder_only", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-02-unreleased.json" }, { "actuator_packet_file": "packets/fresh-02-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forged_effort_only", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-02-unreleased.json" }, { "actuator_packet_file": "packets/fresh-02-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-02-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-all_channels_forged", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-02-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-03-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-03-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be62bde03409f753e81cf075477d04f522bad6399189593b13d252d6b06fd9bf.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-wrong_position", "layout_id": "fresh-03", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.5458195528373e-10, "complete": false, "linear_speed_m_s": 8.405169121733525e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997005279738, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911832626120287e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-03-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-03-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-03-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/593e13896b67a3eaa4f1f274bdff77d4ae5c86be6c6d9db84054ac79f6fc5db1.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-wrong_orientation", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546324067929553e-10, "complete": false, "linear_speed_m_s": 8.405671769550844e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418367909795e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037162 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-03-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-03-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-03-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/78b1e8f5694a44a3813b0e667afbe8fa5aa75d28a033d97c4fca3062e2e90c7e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-missing_target", "layout_id": "fresh-03", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-03-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-03-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-03-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/c86283697af271fc05c45e6bc7fabe617100c3eb0f974c053bf464c65a467fc2.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-wrong_object", "layout_id": "fresh-03", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-03-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-03-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-unreleased", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-03-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-03-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-03-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-sustained_motion", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-03-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-03-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-03-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-instant_alias", "layout_id": "fresh-03", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-03-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-03-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-03-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/3b9619c568e577356155a623170d0c2f5beb753036baec1d2d9b44f7ee0409e4.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-yaw_flip180", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545571555938663e-10, "complete": false, "linear_speed_m_s": 8.404968041245966e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418345847427e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-03-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-03-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-03-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-lookalike_wrongobject", "layout_id": "fresh-03", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-03-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-03-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-03-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be96f6b422b56fc3f04c202d2221feae40b9ef9e6b5a62557d70a9c0b8479696.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-elevated_support", "layout_id": "fresh-03", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545823782001341e-10, "complete": false, "linear_speed_m_s": 8.405122152250802e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418338238117e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911834707788458e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-03-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "camera_packet_file": "packets/fresh-03-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_missing", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "camera_packet_file": "packets/fresh-03-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_stale", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "camera_packet_file": "packets/fresh-03-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_gap", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "camera_packet_file": "packets/fresh-03-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_bad_calibration_id", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/fresh-03-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_missing", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/fresh-03-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_stale", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/fresh-03-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_gap", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/fresh-03-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_wrong_units", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-03-complete.json" }, { "actuator_packet_file": "packets/native-fresh-03-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-03-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-refreshed_camera_replay", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-03-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-03-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forged_encoder_only", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-03-unreleased.json" }, { "actuator_packet_file": "packets/fresh-03-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forged_effort_only", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-03-unreleased.json" }, { "actuator_packet_file": "packets/fresh-03-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-03-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-all_channels_forged", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-03-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-04-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-04-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7741fdc5c20dd5ee0623d0bc5d61acbda181412efd4388e9e1f5b0a38534293e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-wrong_position", "layout_id": "fresh-04", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545350784916803e-10, "complete": false, "linear_speed_m_s": 8.404683633306893e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996950551746, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911838732346922e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-04-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-04-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-04-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7685073843e4aa5db281438a69635db5f0610316082d2620d97ce81e39d15039.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-wrong_orientation", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545087637567077e-10, "complete": false, "linear_speed_m_s": 8.40451987767496e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418333415149e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-04-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-04-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-04-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/18337c7013616fa0945ad709cba4d57d5bc8cd15a1d001e227d4a35e0f6cf724.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-missing_target", "layout_id": "fresh-04", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-04-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-04-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-04-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/8d8b0c251a929e2a4cb2ba5883d3260c881355db3b9e54113e356d465fbf2699.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-wrong_object", "layout_id": "fresh-04", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-04-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-04-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-unreleased", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-04-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-04-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-04-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-sustained_motion", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-04-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-04-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-04-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-instant_alias", "layout_id": "fresh-04", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-04-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-04-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-04-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/06f42aa509969f6691d2b2cf437670396af3281c40f6d558ea3c73fa6ad677b2.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-yaw_flip180", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545323934370644e-10, "complete": false, "linear_speed_m_s": 8.404693016049237e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418302683053e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986094 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-04-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-04-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-04-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-lookalike_wrongobject", "layout_id": "fresh-04", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-04-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-04-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-04-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/14b234fbf12884785701047fece849c794434cceed78956bc1bdd8bc47c01f08.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-elevated_support", "layout_id": "fresh-04", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545302020576641e-10, "complete": false, "linear_speed_m_s": 8.404705087605508e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.085741830534689e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911837899679654e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-04-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "camera_packet_file": "packets/fresh-04-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_missing", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "camera_packet_file": "packets/fresh-04-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_stale", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "camera_packet_file": "packets/fresh-04-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_gap", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "camera_packet_file": "packets/fresh-04-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_bad_calibration_id", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/fresh-04-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_missing", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/fresh-04-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_stale", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/fresh-04-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_gap", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/fresh-04-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_wrong_units", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-04-complete.json" }, { "actuator_packet_file": "packets/native-fresh-04-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-04-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-refreshed_camera_replay", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-04-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-04-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forged_encoder_only", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-04-unreleased.json" }, { "actuator_packet_file": "packets/fresh-04-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forged_effort_only", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-04-unreleased.json" }, { "actuator_packet_file": "packets/fresh-04-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-04-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-all_channels_forged", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-04-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-05-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-05-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/aecde7900f1024f37a0f2a146cd70885fdcf46c94fa29fb45a8b5b3dc7c6c7bc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-wrong_position", "layout_id": "fresh-05", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545926629864602e-10, "complete": false, "linear_speed_m_s": 8.405262771484578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998760799243, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831377119384e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-05-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-05-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-05-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/79966e41eb412c9445456b8e44679fd11171e9b0d3ded9474e534c5aee28526c.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-wrong_orientation", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545657787858832e-10, "complete": false, "linear_speed_m_s": 8.405024814708074e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352739997e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-05-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-05-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-05-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/7c484c0f708a89fb6e55a1df48e69869cfa46e4951701d1e79af91e3b48f3aae.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-missing_target", "layout_id": "fresh-05", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-05-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-05-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-05-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/071825e5d8b45e3915dee401a9db7e3271293dcf9e6c1bec3e130b143a60ab54.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-wrong_object", "layout_id": "fresh-05", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-05-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-05-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-unreleased", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-05-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-05-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-05-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-sustained_motion", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-05-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-05-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-05-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-instant_alias", "layout_id": "fresh-05", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-05-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-05-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-05-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/a4abd85ce1abf4bd2a5ae4b717ae120672b41b9dcd6f032722c1cd54c614e59c.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-yaw_flip180", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545941378365255e-10, "complete": false, "linear_speed_m_s": 8.405322527252024e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418357304478e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986103 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-05-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-05-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-05-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-lookalike_wrongobject", "layout_id": "fresh-05", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-05-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-05-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-05-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/94afe532d87614b8f2be291251287bc8a56e11869b625038206c8f0b168acc13.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-elevated_support", "layout_id": "fresh-05", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546714190956518e-10, "complete": false, "linear_speed_m_s": 8.406005225034952e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418391138659e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182513211487e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-05-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "camera_packet_file": "packets/fresh-05-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_missing", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "camera_packet_file": "packets/fresh-05-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_stale", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "camera_packet_file": "packets/fresh-05-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_gap", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "camera_packet_file": "packets/fresh-05-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_bad_calibration_id", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/fresh-05-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_missing", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/fresh-05-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_stale", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/fresh-05-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_gap", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/fresh-05-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_wrong_units", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-05-complete.json" }, { "actuator_packet_file": "packets/native-fresh-05-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-05-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-refreshed_camera_replay", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-05-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-05-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forged_encoder_only", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-05-unreleased.json" }, { "actuator_packet_file": "packets/fresh-05-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forged_effort_only", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-05-unreleased.json" }, { "actuator_packet_file": "packets/fresh-05-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-05-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-all_channels_forged", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-05-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-06-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-06-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/543e7b00b33c7de9db97cbda361380533a876bb602e4cd48f6356c06c9f4db92.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-wrong_position", "layout_id": "fresh-06", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.548138189400613e-10, "complete": false, "linear_speed_m_s": 8.407371002321903e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998429721178, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810560437672e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-06-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-06-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-06-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/65e970ebfda9a06aa3fea0fb7e7630886e80c23fa5ea402d3c0af3fdcd73e936.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-wrong_orientation", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546864723494792e-10, "complete": false, "linear_speed_m_s": 8.406202720929996e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418435704144e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-06-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-06-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-06-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/2dc08bbabd42da97f2bf56895ae72b858ba058485de1c4296110fc410dbe2850.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-missing_target", "layout_id": "fresh-06", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-06-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-06-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-06-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a1a6aaaa1920a7cb6f0921ba79111e0e7155cd68a9b528ca29bc1959e89c029a.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-wrong_object", "layout_id": "fresh-06", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-06-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-06-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-unreleased", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-06-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-06-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-06-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-sustained_motion", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-06-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-06-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-06-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-instant_alias", "layout_id": "fresh-06", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-06-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-06-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-06-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/95c7f03fb7f8e63f2bb8033f26c937b07c72731d771fda149380a7ccc6b17092.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-yaw_flip180", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546934599004083e-10, "complete": false, "linear_speed_m_s": 8.406301412864975e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418419965155e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986117 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-06-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-06-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-06-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-lookalike_wrongobject", "layout_id": "fresh-06", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-06-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-06-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-06-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a922ff2407b84bf50f6bcbcd6f9314b3229e3a13a123d27ae3af03c957615d9b.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-elevated_support", "layout_id": "fresh-06", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54680563708664e-10, "complete": false, "linear_speed_m_s": 8.406143094976067e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418406233275e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911821385112162e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-06-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "camera_packet_file": "packets/fresh-06-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_missing", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "camera_packet_file": "packets/fresh-06-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_stale", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "camera_packet_file": "packets/fresh-06-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_gap", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "camera_packet_file": "packets/fresh-06-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_bad_calibration_id", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/fresh-06-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_missing", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/fresh-06-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_stale", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/fresh-06-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_gap", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/fresh-06-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_wrong_units", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-06-complete.json" }, { "actuator_packet_file": "packets/native-fresh-06-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-06-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-refreshed_camera_replay", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-06-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-06-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forged_encoder_only", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-06-unreleased.json" }, { "actuator_packet_file": "packets/fresh-06-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forged_effort_only", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-06-unreleased.json" }, { "actuator_packet_file": "packets/fresh-06-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-06-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-all_channels_forged", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-06-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-07-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-07-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/f0d87064efe040a6b37638851e07451dd2f2f3983cb52d901ea63ed5f7ff2a04.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-wrong_position", "layout_id": "fresh-07", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546452315141569e-10, "complete": false, "linear_speed_m_s": 8.405762505522344e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996806381232, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911826242337895e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-07-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-07-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-07-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/5ca2c885817be19f4d3fc90110b00b098d6960bae35cd6c0f8977c5da0c46fcc.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-wrong_orientation", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545687918402713e-10, "complete": false, "linear_speed_m_s": 8.405115277989858e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418346656895e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037153 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-07-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-07-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-07-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/dade033929d82c36c8f29022876bcd0ec3aceb3a45c1e4cd069441a2dad8b3aa.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-missing_target", "layout_id": "fresh-07", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-07-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-07-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-07-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/45299cea09da246e8b79163dcf82fcae45de1b1c08f8bdcdb0a15f9e9db6b4a5.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-wrong_object", "layout_id": "fresh-07", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-07-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-07-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-unreleased", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-07-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-07-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-07-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-sustained_motion", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-07-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-07-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-07-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-instant_alias", "layout_id": "fresh-07", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-07-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-07-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-07-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/4c96576481bbda1a77cee247eed5890ca9ae3a374d0263f0824b54cc56128b96.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-yaw_flip180", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545481339570781e-10, "complete": false, "linear_speed_m_s": 8.404857103254578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418318903458e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-07-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-07-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-07-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-lookalike_wrongobject", "layout_id": "fresh-07", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-07-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-07-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-07-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/ea96468935076c02905593b5ac5571bbba19a2a7526394a1541b7ba802f44b56.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-elevated_support", "layout_id": "fresh-07", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546572397627967e-10, "complete": false, "linear_speed_m_s": 8.405910805239593e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418394507453e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182374433609e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-07-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "camera_packet_file": "packets/fresh-07-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_missing", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "camera_packet_file": "packets/fresh-07-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_stale", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "camera_packet_file": "packets/fresh-07-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_gap", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "camera_packet_file": "packets/fresh-07-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_bad_calibration_id", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/fresh-07-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_missing", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/fresh-07-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_stale", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/fresh-07-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_gap", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/fresh-07-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_wrong_units", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-07-complete.json" }, { "actuator_packet_file": "packets/native-fresh-07-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-07-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-refreshed_camera_replay", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-07-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-07-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forged_encoder_only", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-07-unreleased.json" }, { "actuator_packet_file": "packets/fresh-07-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forged_effort_only", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-07-unreleased.json" }, { "actuator_packet_file": "packets/fresh-07-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-07-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-all_channels_forged", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-07-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-08-wrong_position-actuators.json", "camera_packet_file": "packets/native-fresh-08-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/5c7a5235bc7a3154573f648d77ffe4814064af351b9414755ed6002e6a05544f.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-wrong_position", "layout_id": "fresh-08", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545753822341206e-10, "complete": false, "linear_speed_m_s": 8.405144723544146e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998103014372, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911830475063176e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-08-wrong_position.json" }, { "actuator_packet_file": "packets/native-fresh-08-wrong_orientation-actuators.json", "camera_packet_file": "packets/native-fresh-08-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/551b60ecd885f73d6c56355c56fe86c7cdee8fa6bf39545662456c652cda56a1.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-wrong_orientation", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54599920050319e-10, "complete": false, "linear_speed_m_s": 8.405333880657776e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418322845445e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-08-wrong_orientation.json" }, { "actuator_packet_file": "packets/native-fresh-08-missing_target-actuators.json", "camera_packet_file": "packets/native-fresh-08-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/cc799d4024179ccf8183bd7a955f8b5e396b733a1a222a1e628f7176457292c1.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-missing_target", "layout_id": "fresh-08", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-08-missing_target.json" }, { "actuator_packet_file": "packets/native-fresh-08-wrong_object-actuators.json", "camera_packet_file": "packets/native-fresh-08-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/15643bca6e60b17f443cbbab9488310862830ac291cc09099f3e2d80e1022760.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-wrong_object", "layout_id": "fresh-08", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-08-wrong_object.json" }, { "actuator_packet_file": "packets/native-fresh-08-unreleased-actuators.json", "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-unreleased", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-08-unreleased.json" }, { "actuator_packet_file": "packets/native-fresh-08-sustained_motion-actuators.json", "camera_packet_file": "packets/native-fresh-08-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-sustained_motion", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-08-sustained_motion.json" }, { "actuator_packet_file": "packets/native-fresh-08-instant_alias-actuators.json", "camera_packet_file": "packets/native-fresh-08-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-instant_alias", "layout_id": "fresh-08", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-08-instant_alias.json" }, { "actuator_packet_file": "packets/native-fresh-08-yaw_flip180-actuators.json", "camera_packet_file": "packets/native-fresh-08-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/291367f3918e277dbd50197484069413e420c317e897297e74e75743d2955b12.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-yaw_flip180", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546739189346011e-10, "complete": false, "linear_speed_m_s": 8.406029660161011e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418404831404e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-08-yaw_flip180.json" }, { "actuator_packet_file": "packets/native-fresh-08-lookalike_wrongobject-actuators.json", "camera_packet_file": "packets/native-fresh-08-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-lookalike_wrongobject", "layout_id": "fresh-08", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-08-lookalike_wrongobject.json" }, { "actuator_packet_file": "packets/native-fresh-08-elevated_support-actuators.json", "camera_packet_file": "packets/native-fresh-08-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/37d23928bdfcc8df129b07a744bb2e08313b9d73fd167334bc08a3a1f15832d5.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-elevated_support", "layout_id": "fresh-08", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545344036236508e-10, "complete": false, "linear_speed_m_s": 8.404736526497026e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418320112581e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191183526289997e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-08-elevated_support.json" }, { "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "camera_packet_file": "packets/fresh-08-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_missing", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "camera_packet_file": "packets/fresh-08-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_stale", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "camera_packet_file": "packets/fresh-08-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_gap", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "camera_packet_file": "packets/fresh-08-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_bad_calibration_id", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/fresh-08-fault-actuator_missing-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_missing", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/fresh-08-fault-actuator_stale-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_stale", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/fresh-08-fault-actuator_gap-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_gap", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/fresh-08-fault-actuator_wrong_units-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_wrong_units", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-08-complete.json" }, { "actuator_packet_file": "packets/native-fresh-08-sustained_motion-actuators.json", "camera_packet_file": "packets/fresh-08-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-refreshed_camera_replay", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-08-sustained_motion.json" }, { "actuator_packet_file": "packets/fresh-08-forged_encoder_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forged_encoder_only", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-08-unreleased.json" }, { "actuator_packet_file": "packets/fresh-08-forged_effort_only-actuator_packet_file.json", "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forged_effort_only", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-08-unreleased.json" }, { "actuator_packet_file": "packets/fresh-08-all_channels_forged-actuator_packet_file.json", "camera_packet_file": "packets/fresh-08-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-all_channels_forged", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-08-sustained_motion.json" } ], "schema": "dvidia.sensor-goal-cases/v1" }