Ekshan267/pact_pick_n_place_v2

PACT pick and place v2

Expert pick-and-place demonstrations on the place-corridor scene, with a hover-then-vertical-drop onto the blue tray. Versions live in separate folders and are not mixed. v107_spaced (200 episodes) was added most recently.

Version	Path	Accepted episodes	Environment	Sampler
v12	data/v12/	165	pact_place_corridor_v10_11_preview_onebottle	PactPlaceCorridorV1010FourObjectSampler
v12.1	data/v12.1/	5	pact_place_corridor_v10_11_preview_tablecam	PactPlaceCorridorV1010FourObjectSampler
v1011d	data/v1011d/	200	pact_place_corridor_v10_11d_randomized_clutter	PactPlaceCorridorV1011DRandomizedLayoutSampler
v107_spaced	data/v107_spaced/	200	pact_place_corridor_v10_7_spaced_bench	PactPlaceCorridorV106Sampler

Cameras	wrist RGB/depth, table (exo_camera_1) RGB/depth, 40 proximity @ 16.67 ms
Drop	hover, then vertical place onto the blue tray

v107_spaced is a different sampler family from v12 / v1011d: three frozen pendant poses crossed with stagger and approach-side quotas (100 left / 100 right). Do not treat a checkpoint trained on one split as interchangeable with another without saying so.

Each episode:

data/<version>/rows/NNN_<attempt_id>/
  trajectory.h5
  result.json
  episode_00000000_wrist_camera.mp4
  episode_00000000_wrist_camera_depth.mp4
  episode_00000000_exo_camera_1.mp4
  episode_00000000_exo_camera_1_depth.mp4
  episode_00000000_sensors_depth8_heatmap.mp4

trajectory.h5 includes traj_0/obs/sensor_param/{wrist_camera,exo_camera_1} and 40 obs/proximity/* streams. Raw datagen, not ACT HDF5.