Real-to-simulation motion prototypes ==================================== These interfaces normalize explicitly annotated joint and TCP data into a source-owned motion unit. Prepared bundles preserve source arrays, frame and time decisions and a content digest. A prototype is a motion reference; the host remains responsible for initial-state preparation, collision and physical effect validation, execution and recording. The source accepts qpos-only references for fixed-scene replay. Cartesian transfer needs explicit TCP poses and supports tabletop XY/yaw changes. A prototype generated from a synthetic reference remains marked synthetic. .. automodule:: embodichain.data_pipeline.real2sim :members: :imported-members: :no-index: .. automodule:: embodichain.data_pipeline.real2sim.contracts :members: :no-index: .. automodule:: embodichain.data_pipeline.real2sim.normalize :members: :no-index: .. automodule:: embodichain.data_pipeline.real2sim.prototype :members: :no-index: .. automodule:: embodichain.data_pipeline.real2sim.io :members: :no-index: Original DROID recordings retain measured joint states, optional measured velocities, submitted commands and both acquisition clocks as separate streams. The adapter requires explicit manual phases and base/flange/TCP calibration. Its reported Cartesian poses are FK-derived, not independent TCP measurements. Typed evidence archives the original streams alongside the self-contained HDF5; missing velocities are not reconstructed as observations. .. automodule:: embodichain.data_pipeline.real2sim.droid :members: Read-only replay export verifies each episode's matching complete recorder journal, receipt identities, source bundles and attachment digests. It retains failed attempts and creates no new collection or submission identities. .. automodule:: embodichain.data_pipeline.real2sim.replay :members: Nominal motion is selected before native planning. The corresponding atomic skill owns effect and command construction. Sampled collision evidence is separate from a physical outcome; an unverified collision check cannot certify the resulting rollout. .. automodule:: embodichain.lab.sim.atomic_actions.nominal :members: :no-index: .. automodule:: embodichain.lab.sim.atomic_actions.prototype_source :members: :no-index: .. automodule:: embodichain.lab.sim.motion.expansion.real2sim :members: :no-index: .. automodule:: embodichain.lab.sim.motion.expansion.mapped_timing :members: :no-index: Mapped retiming scales each authorized free phase's total elapsed time to the next control interval while leaving protected event neighborhoods and contact-phase durations fixed. If those constraints cannot fit the requested duration, it rejects the proposal instead of changing the physics timestep. The synchronous B=1 sink accepts an explicitly validated rollout with its terminal observation, source artifacts and action-to-plan trace. It closes buffered LeRobot writers and checks the existing journal and artifact digests before confirming a receipt. Callers must provide the task-specific acceptance checks, collision and asset-compatibility evidence, and coordinate Gym reset. The Gym submission helper can apply a receipt to an existing expansion session; its coverage advances only after confirmation. A failed write retains its payload for the existing idempotent retry and repair boundary. ``real2sim_lineage`` in episode metadata declares a scene revision, compiled program SHA-256, source bundles and a digest-checked NPZ trace. The trace has one ``step_call_index`` and ``step_plan_index`` for each submitted action; ``-1`` marks a runtime hold without a plan sample. For each ``call_``, ``left``, ``right`` and ``weight`` map expanded-plan samples to the original plan, while ``source_events`` and ``plan_events`` map exact phase boundaries. The call's ``source_sample_offset`` separates added connection samples from the normalized source, whose own source map stays in the archived prototype. The sink rejects missing plan samples, unexpressible hard events and mismatched artifact hashes. The B=1 scene integration can opt into action tracing through the Task Program bridge. The caller must assemble the trace artifact, establish that it describes submitted commands and supply independent physical evidence. .. automodule:: embodichain.lab.gym.envs.managers.real2sim_sink :members: :no-index: For fixed tabletop geometry, the sampled collision checker loads the complete robot URDF collision geometry and requires an explicit scene-object pose at every sample. Contact exemptions and maximum penetration are declared per phase; adjacent robot links are excluded using URDF joint topology. The host checks geometry fingerprints and projects commanded gripper closure to a sampled first contact. Execution must still be checked against measured states; these interfaces do not establish continuous-time or hardware feasibility. .. automodule:: embodichain.lab.sim.motion.expansion.real2sim_collision :members: :no-index: Gripper contact projection is explicitly selected by the host. Independent prismatic fingers retain their existing projection. Coupled mimic grippers advance one driver and all followers together until the first contact of any declared finger link. Measured coupling tolerances never relax command coupling. Internal mechanism collision pairs and their depth bounds must be named. .. automodule:: embodichain.lab.sim.motion.expansion.gripper_contact :members: .. automodule:: embodichain.lab.task_program.integrations.simulation.real2sim_collision :members: :no-index: The run-task owner captures actual observations and actions before submitting them to the synchronous sink. An unconfirmed write retains a no-pickle staged episode, so a retry uses the same payload instead of executing again. When observed collision validation is required, the sink also verifies and archives the measured T+1 object poses, fixed support pose and timestamps. .. automodule:: embodichain.lab.gym.envs.managers.real2sim_collection :members: :no-index: Configured tabletop collection supplies explicit layouts, recipes, collision policy and per-joint motion limits. Its runtime owner coordinates scene setup, source-bound planning, measured verification and one durable episode receipt. Sequential Pick, MoveHeldObject and Place occurrences, including bounded repeats, each require a pinned source. The host separately checks each Pick, held interval and Place. A Pick from an observed support permits a change in height and at most two degrees of tilt only after checking the support footprint; lift remains gravity-aligned. Cartesian Place aligns its release anchor to the semantic target and reports the applied correction. An optional directed yaw tolerance checks observed object +X against the requested object pose, including solver error. The default remains disabled. ``retime_phase_allowlist`` can narrow source and skill time permissions; a short protected free phase can retain its original grid while other phases stretch. .. automodule:: embodichain.lab.task_program.integrations.simulation.real2sim_collection :members: :no-index: .. automodule:: embodichain.lab.sim.motion.expansion.operators :members: validate_motion_samples :no-index: