[Alpenj]

Scope

• derive the measured shoe-box pose from simulated H201 metric depth without MuJoCo body pose or segmentation IDs
• target the robot-facing front tuck flap right-hand grasp region
• solve four guarded right-arm IK segments and add a bounded right-wrist RGB edge correction
• reuse the existing MuJoCo keyboard teleop, camera payload, episode quality gate, and DAPIER-native ACT dataset
• block the stale physical box-top target after the SIM target correction

Verification

• 48 focused MuJoCo/data unit tests passed
• 8 hardware-runner mock tests passed; no device opened
• accepted compact pregrasp episode loaded as 65-frame 12D state/action RGB-D ACT data
• CPU one-step ACT train/checkpoint round-trip passed

Not yet complete

• operator visual confirmation of the corrected front-flap path
• system udev alias reinstall
• physical H201/wrist calibration and fresh camera frames
• physical segmented visual-servo motion
• right-arm lid opening and left-arm shoe extraction

This remains Draft. SIM and mock evidence does not authorize physical execution.

[Alpenj]

Superseded by cleanly rebased Draft PR #51 after the parent PR #49 branch advanced. No hardware execution was performed.