Add iter29 single-pass logging and episode0 debug-aware GIF suite

.gitattributes

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README.md

@@ -14,7 +14,15 @@ This is still a label-validation repository, not a policy repository. No `pi0.5`
 
 ## Current Status
 
-The latest work in this upload is the `metric_iter24_*_door_contact_geom` rerun for episodes 0 and 1.
+The latest work in this upload is the `metric_iter29_ep0_single_pass_full_logging_fixed_templates` validation pass for episode 0, plus the updated debug-aware GIF renderer.
+
+That run keeps the trusted `iter24` template bundle fixed, adds the fuller dense/debug logging in a single pass, and regenerates the episode-0 visualization suite from the richer artifact. It is the current reference for:
+
+- the `episode0.debug.jsonl` sidecar with per-frame `p_pre` and `p_ext` internals
+- the single-pass dense CSV with fuller logged sub-metrics
+- the updated `path_quality_focus` GIF that now exposes the `p_ext` milestone search, milestone scores, and planner outcomes directly in the visualization
+
+The earlier `metric_iter24_*_door_contact_geom` reruns for episodes 0 and 1 remain the trusted baseline for the repaired oven metrics.
 
 That rerun fixes the main simulator-state bugs that were still contaminating the oven metrics:
 
@@ -44,6 +52,7 @@ The old `iter4_*`, `iter6_*`, `iter19_*`, and `iter22_*` outputs are still usefu
 
 - `artifacts/results/metric_iter24_ep0_door_contact_geom/`
 - `artifacts/results/metric_iter24_ep1_door_contact_geom/`
+- `artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/`
 
 The main new fix in `iter24` is the assisted-door contact scoring inside `p_pre`:
 

artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/episode0.keyframes.csv

@@ -0,0 +1,15 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,right_arm_pose_x,right_arm_pose_y,right_arm_pose_z,right_arm_pose_qx,right_arm_pose_qy,right_arm_pose_qz,right_arm_pose_qw,left_arm_pose_x,left_arm_pose_y,left_arm_pose_z,left_arm_pose_qx,left_arm_pose_qy,left_arm_pose_qz,left_arm_pose_qw,tray_height,tray_grasped_left,pregrasp_progress,pregrasp_distance,pregrasp_position_error,pregrasp_orientation_error_deg,p_pre,p_ext,y_pre_raw,y_ext_raw,y_pre,y_ext,p_pre_source_strict,p_pre_source_assisted,p_pre_bump_applied,p_pre_base_score,p_pre_strict_length,p_pre_assisted_length,p_pre_assisted_reliability,p_pre_post_assist_strict_feasible,p_pre_door_open_delta,p_pre_door_quality,p_pre_step_quality_mean,p_pre_step_quality_min,p_pre_step_quality_max,p_pre_alignment_signed_mean,p_pre_alignment_abs_mean,p_pre_collision_count,p_pre_bad_collision_count,p_pre_best_goal_index,p_pre_num_goal_poses,p_pre_best_target_pose_x,p_pre_best_target_pose_y,p_pre_best_target_pose_z,p_pre_best_target_pose_qx,p_pre_best_target_pose_qy,p_pre_best_target_pose_qz,p_pre_best_target_pose_qw,p_ext_initial_height,p_ext_final_height,p_ext_total_length,p_ext_already_grasped_start,p_ext_already_grasped_end,p_ext_num_milestones,p_ext_first_failed_milestone,p_ext_min_reliability,p_ext_mean_reliability,p_ext_approach_score,p_ext_retreat_score,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,front_grasp_visibility,front_tray_visibility,front_grasp_projected_count,front_grasp_visible_count,front_tray_projected_count,front_tray_visible_count,overhead_grasp_visibility,overhead_tray_visibility,overhead_grasp_projected_count,overhead_grasp_visible_count,overhead_tray_projected_count,overhead_tray_visible_count,wrist_right_grasp_visibility,wrist_right_tray_visibility,wrist_right_grasp_projected_count,wrist_right_grasp_visible_count,wrist_right_tray_projected_count,wrist_right_tray_visible_count,wrist_left_grasp_visibility,wrist_left_tray_visibility,wrist_left_grasp_projected_count,wrist_left_grasp_visible_count,wrist_left_tray_projected_count,wrist_left_tray_visible_count,over_shoulder_left_grasp_visibility,over_shoulder_left_tray_visibility,over_shoulder_left_grasp_projected_count,over_shoulder_left_grasp_visible_count,over_shoulder_left_tray_projected_count,over_shoulder_left_tray_visible_count,over_shoulder_right_grasp_visibility,over_shoulder_right_tray_visibility,over_shoulder_right_grasp_projected_count,over_shoulder_right_grasp_visible_count,over_shoulder_right_tray_projected_count,over_shoulder_right_tray_visible_count,door_speed_signed,door_speed_abs,pregrasp_speed,y_pre_seed_raw,y_pre_progress_seed,y_ext_seed_raw,phase_score,approach_active,retrieve_onset_raw,y_retrieve,ready_seed_raw,y_ready,phase_seed_raw,phase_switch,p_pre_minus_tau,p_ext_minus_tau,door_speed_margin,keyframe_ordinal
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artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/episode0.metrics.json

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artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/summary.json

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+}

artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/templates.json

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+}

artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/templates.pkl

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artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/visualizations/README.md

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+# Visualizations
+
+- `episode0_visibility_focus.gif`: three-view visibility montage over dense frames 131-171.
+- `episode0_path_quality_focus.gif`: debug-aware p_ext planner montage over dense frames 127-300.
+- `episode0_all_metrics.gif`: full episode overlay GIF over dense frames 0-328, sampled every 2 frames.
+- `frames/visibility_focus/`: per-frame PNGs with scene overlays, x-ray projections, and tray-mask views.
+- `frames/path_quality_focus/`: per-frame PNGs with demo wrist trails, milestone pose overlays, and p_ext planner-search tables from the debug JSONL sidecar.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- Visibility: blue = sampled tray surface, magenta = sampled grasp region, green = depth-consistent visible grasp samples.
+- Path quality: cyan/purple = recent left/right demo wrist trails, yellow = pregrasp, orange = grasp, green = retreat / extraction path.
+- All metrics: red banner = reveal phase, green banner = retrieve phase.