Add RevoTac OXT dataset description, archive manifest and QC evidence
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- README.md +93 -0
- citation.bib +6 -0
- manifest.json +134 -0
- metadata.json +35 -0
- qc/4d_invocations/cup_hang.json +21 -0
- qc/4d_invocations/hammer.json +21 -0
- qc/4d_invocations/insert_peg.json +21 -0
- qc/4d_invocations/insert_pipette.json +21 -0
- qc/4d_invocations/kitchen.json +21 -0
- qc/4d_invocations/plug_charger.json +21 -0
- qc/4d_invocations/pour_can.json +21 -0
- qc/4d_invocations/power_drill.json +21 -0
- qc/4d_invocations/rotate_knob.json +21 -0
- qc/4d_invocations/tray_carry.json +21 -0
- qc/4d_recordings/cup_hang.recording.json +297 -0
- qc/4d_recordings/cup_hang.review_sheet.jpg +3 -0
- qc/4d_recordings/cup_hang_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/hammer.recording.json +297 -0
- qc/4d_recordings/hammer.review_sheet.jpg +3 -0
- qc/4d_recordings/hammer_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/insert_peg.recording.json +297 -0
- qc/4d_recordings/insert_peg.review_sheet.jpg +3 -0
- qc/4d_recordings/insert_peg_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/insert_pipette.recording.json +297 -0
- qc/4d_recordings/insert_pipette.review_sheet.jpg +3 -0
- qc/4d_recordings/insert_pipette_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/kitchen.recording.json +297 -0
- qc/4d_recordings/kitchen.review_sheet.jpg +3 -0
- qc/4d_recordings/kitchen_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/plug_charger.recording.json +297 -0
- qc/4d_recordings/plug_charger.review_sheet.jpg +3 -0
- qc/4d_recordings/plug_charger_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/pour_can.recording.json +297 -0
- qc/4d_recordings/pour_can.review_sheet.jpg +3 -0
- qc/4d_recordings/pour_can_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/power_drill.recording.json +297 -0
- qc/4d_recordings/power_drill.review_sheet.jpg +3 -0
- qc/4d_recordings/power_drill_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/rotate_knob.recording.json +297 -0
- qc/4d_recordings/rotate_knob.review_sheet.jpg +3 -0
- qc/4d_recordings/rotate_knob_4d_viser_check.mp4 +3 -0
- qc/4d_recordings/tray_carry.recording.json +297 -0
- qc/4d_recordings/tray_carry.review_sheet.jpg +3 -0
- qc/4d_recordings/tray_carry_4d_viser_check.mp4 +3 -0
- qc/4d_viser_check.mp4 +3 -0
- qc/4d_visual_review.json +100 -0
- qc/agent_semantic_review.json +1550 -0
- qc/agent_semantic_review_result.json +23 -0
- qc/full_frame_numeric_checks.json +951 -0
- qc/media_validation.json +112 -0
README.md
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---
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pretty_name: RevoTac OXT — Ten Simulated Tactile Manipulation Episodes
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language:
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- en
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tags:
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- robotics
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- tactile
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- simulation
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- zarr
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- open-x-tactile
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size_categories:
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- n<1K
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---
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# RevoTac OXT
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Ten scripted **simulated** tactile manipulation episodes, one per task, from RevoBench / RevoSim. Contributing institutions: **HKUST(GZ), BrainCo, Georgia Tech**. Contact: Lixin Xu, davidxulixin@gmail.com.
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Project: https://braincotech.github.io/RevoSim-web/
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Code: https://github.com/BrainCoTech/RevoBench
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Format and contribution requirements: **[Open-X-Tactile](https://open-x-tactile.github.io/)** and [OXT-QC](https://github.com/nolann030628/OXT-QC).
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This release follows section 4.1 of the OXT submission guide: task subdirectories contain ZIP archives of the processed Zarr data. Uploading this repository does not mean that OXT organizers have accepted the dataset.
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## Contents
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Version 0.1.0 contains **10 episodes, 32,272 frames at 60 Hz**. The unpacked Zarr files total **62,347,719,867 bytes (62.348 GB)**. Exact archive sizes, SHA-256 hashes and source file counts are in `manifest.json`.
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| Task | Frames | Archive |
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| --- | ---: | --- |
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| cup_hang | 4178 | `cup_hang/cup_hang.zip` |
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| hammer | 1856 | `hammer/hammer.zip` |
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| insert_peg | 3406 | `insert_peg/insert_peg.zip` |
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| insert_pipette | 2937 | `insert_pipette/insert_pipette.zip` |
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| kitchen | 5655 | `kitchen/kitchen.zip` |
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| plug_charger | 2671 | `plug_charger/plug_charger.zip` |
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| pour_can | 4653 | `pour_can/pour_can.zip` |
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| power_drill | 2866 | `power_drill/power_drill.zip` |
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| rotate_knob | 2459 | `rotate_knob/rotate_knob.zip` |
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| tray_carry | 1591 | `tray_carry/tray_carry.zip` |
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Each ZIP contains one `<task>.zarr/` directory, including `data`, auxiliary observations and `edit_provenance`. Extract all entries; do not discard auxiliary or edit-provenance arrays. ZIP64 is used. ZIP storage preserves the already-compressed Zarr chunk bytes.
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## Download and open
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```python
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from huggingface_hub import hf_hub_download
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from pathlib import Path
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import hashlib
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import json
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import zipfile
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import zarr
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repo = "BrainCoTech/RevoTac-OXT"
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manifest = json.loads(Path(hf_hub_download(repo, "manifest.json", repo_type="dataset")).read_text())
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entry = next(x for x in manifest["archives"] if x["task"] == "cup_hang")
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archive = Path(hf_hub_download(repo, entry["path"], repo_type="dataset"))
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digest = hashlib.sha256()
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with archive.open("rb") as stream:
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for block in iter(lambda: stream.read(16 * 1024 * 1024), b""):
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digest.update(block)
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assert digest.hexdigest() == entry["sha256"]
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with zipfile.ZipFile(archive) as packed:
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packed.extractall("data")
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episode = zarr.open_group("data/cup_hang.zarr", mode="r")
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print(episode.tree())
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```
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## Signals and editing
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The bimanual robot has 56 joint coordinates. The dataset includes measured joints and commands, four scene RGB cameras, canonical ego/wrist poses, five optical tactile pads per hand, numeric indentation depth in **meters**, marker displacement, pad-contact wrenches, and 285 pressure taxels per hand. Stiffness and damping are omitted from this OXT view.
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Pressure is a **nonnegative normalized response**, not Pa or N. DIP optical pads and palm/MCP/PIP pressure regions have different spatial coverage. The sensor facade is target-specific. Simulated Taxim RGB marker warping is not implemented; these are not real sensor recordings.
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Long stationary holds were removed offline, reducing 34,528 original frames to 32,272. Modalities share the same retained source-frame indices. Native retained values, sensor resolution and chunk codecs are preserved; timestamps were reindexed at 60 Hz. Original capture frame indices/times are retained in `edit_provenance`. No interpolation or physics rerun was performed. These ten development demonstrations are not a statistical task-success benchmark.
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## Quality checks and known limitations
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See `qc/` for the review records. The official metadata check passed all ten dataset structures; its historical report still notes the then-missing download URL and FTP-1 `code_trigger`. This release fills `metadata.json.url`; `code_trigger` remains unassigned. The release metadata check was rerun after adding the URL: all ten dataset structures passed, with only `code_trigger` still missing (see `qc/release_metadata_check/`).
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The official external VLM stage was attempted without dry-run but could not produce scores because no API key was available. Its reports are preserved with `missing_api_key` and null scores. A separate Codex multimodal agent review examined sampled scene/both-hand tactile evidence plus all-frame numerical checks. This does not constitute organizer approval or a completed external VLM API check. Published JSON reports replace internal source-directory prefixes with descriptive placeholders; the original private audit reports remain unchanged.
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- **pour_can:** right pinky force reaches 416.2466 N at retained/original frame 600, an isolated peak much larger than neighboring values. The value is preserved and flagged for contact-model review.
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- **plug_charger:** the left thumb DIP records contact in only eight frames. Source validation supports successful insertion and post-release stability, but does not establish continuous three-fingertip contact.
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- **rotate_knob:** peak angle is about 34.16 degrees; the knob returns near zero after release. This is not a demonstration of maintaining a 35-degree final angle.
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- Active-hand pressure is zero throughout eight tasks. Optical and pressure regions differ; these pressure channels should not be described as rich contact observations.
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- 4D recordings use a full-duration 10 Hz inspection view with 320x240 RGB and documented nominal intrinsics/display adaptations. No scene depth was available, so point clouds were disabled. All 32,272 native pose frames were checked numerically against previously validated FK sources. The recording is sampled coordinate-review evidence, not a full native-rate task video or pixel-accurate calibration certificate.
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The kitchen task targets one potato piece and two meat pieces; carrots remaining in the pan are distractors. The drill task requires alignment above the board, not actual drilling. The pipette task ends with the grasp maintained.
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## Citation
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See `citation.bib` for the citation supplied on the project website. No paper identifier is inferred. A separate dataset license has not been specified in this release.
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citation.bib
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@misc{zhang2026revosim,
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title = {{RevoSim}: Scalable Multimodal Tactile Simulation for Dexterous Manipulation},
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author = {Zhang, Ke and Xu, Lixin and Wang, Ziyi and Dong, Xiyue and Tan, Jie and Shao, Lianghu and Wang, Xianpeng and Li, Chuanyu and Xu, Renjing},
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year = {2026},
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url = {https://braincotech.github.io/RevoSim-web/}
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}
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manifest.json
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{
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"repo_id": "BrainCoTech/RevoTac-OXT",
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"version": "0.1.0",
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"tasks": 10,
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"episodes": 10,
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"frames": 32272,
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"native_rate_hz": 60,
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"source_zarr_bytes": 62347719867,
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"archive_bytes": 62376728083,
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"archives": [
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{
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"task": "cup_hang",
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"path": "cup_hang/cup_hang.zip",
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"source_files": 18422,
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"source_bytes": 8661113099,
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"archive_bytes": 8664721659,
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"sha256": "f22be7e5331bf7d6e68fbfb7faa88c4b0768c8cc5774960ba57f13547390ae0e",
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"compression": "ZIP_STORED; chunks retain original codec",
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"all_member_crc_verified": true,
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"root_directory": "cup_hang.zarr",
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"elapsed_seconds": 43.49
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},
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{
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"task": "hammer",
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"path": "hammer/hammer.zip",
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"source_files": 8432,
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"source_bytes": 3823572079,
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"archive_bytes": 3825155103,
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"sha256": "1b5d3237371b5c2cc0b86bb1acd5dc351462b47cd21107f1ba88be569f6b4460",
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"compression": "ZIP_STORED; chunks retain original codec",
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"all_member_crc_verified": true,
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"root_directory": "hammer.zarr",
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"elapsed_seconds": 30.23
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},
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{
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"task": "insert_peg",
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"path": "insert_peg/insert_peg.zip",
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"source_files": 15636,
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"source_bytes": 6404872048,
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"archive_bytes": 6407994634,
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"sha256": "ba12a7987fb9306ee23e74c5fa29bfd4989c716ee975ad5e2b9f0a24c53019da",
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"compression": "ZIP_STORED; chunks retain original codec",
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"all_member_crc_verified": true,
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"root_directory": "insert_peg.zarr",
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"elapsed_seconds": 30.32
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},
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{
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"task": "insert_pipette",
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"path": "insert_pipette/insert_pipette.zip",
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"source_files": 13502,
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"source_bytes": 5531281079,
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"archive_bytes": 5534080833,
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"sha256": "ccd98a33dcd231175ca3fd2d71a2265f2bb7563f724656a3fdc1994bc55816ed",
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"compression": "ZIP_STORED; chunks retain original codec",
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"all_member_crc_verified": true,
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"root_directory": "insert_pipette.zarr",
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"elapsed_seconds": 39.22
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},
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{
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"task": "kitchen",
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"path": "kitchen/kitchen.zip",
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"source_files": 24842,
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"source_bytes": 11278402435,
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"archive_bytes": 11283230107,
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"sha256": "a9d5793cf99d830c988ff7e8b54ed8a5d2de2b1f1c3c702c70488eaf42dfb569",
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"compression": "ZIP_STORED; chunks retain original codec",
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| 67 |
+
"all_member_crc_verified": true,
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"root_directory": "kitchen.zarr",
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"elapsed_seconds": 88.33
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},
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{
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"task": "plug_charger",
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| 73 |
+
"path": "plug_charger/plug_charger.zip",
|
| 74 |
+
"source_files": 12310,
|
| 75 |
+
"source_bytes": 4854555548,
|
| 76 |
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"archive_bytes": 4857054414,
|
| 77 |
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"sha256": "1cbf7991679b9451d7a4581e105d33c6b76ef76029995f1cefb5cad891f7f019",
|
| 78 |
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"compression": "ZIP_STORED; chunks retain original codec",
|
| 79 |
+
"all_member_crc_verified": true,
|
| 80 |
+
"root_directory": "plug_charger.zarr",
|
| 81 |
+
"elapsed_seconds": 39.35
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"task": "pour_can",
|
| 85 |
+
"path": "pour_can/pour_can.zip",
|
| 86 |
+
"source_files": 21324,
|
| 87 |
+
"source_bytes": 8611363144,
|
| 88 |
+
"archive_bytes": 8615536630,
|
| 89 |
+
"sha256": "118ea55d299fbebe0dab111eef7d89e1cd45e91244a8f6d2099d60db345d6fe8",
|
| 90 |
+
"compression": "ZIP_STORED; chunks retain original codec",
|
| 91 |
+
"all_member_crc_verified": true,
|
| 92 |
+
"root_directory": "pour_can.zarr",
|
| 93 |
+
"elapsed_seconds": 64.04
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"task": "power_drill",
|
| 97 |
+
"path": "power_drill/power_drill.zip",
|
| 98 |
+
"source_files": 13277,
|
| 99 |
+
"source_bytes": 5620345209,
|
| 100 |
+
"archive_bytes": 5623017549,
|
| 101 |
+
"sha256": "f6d4eeaa7639ef36dd26af470d733a9b255b744bc722ad71cf28781859d8aed5",
|
| 102 |
+
"compression": "ZIP_STORED; chunks retain original codec",
|
| 103 |
+
"all_member_crc_verified": true,
|
| 104 |
+
"root_directory": "power_drill.zarr",
|
| 105 |
+
"elapsed_seconds": 38.62
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"task": "rotate_knob",
|
| 109 |
+
"path": "rotate_knob/rotate_knob.zip",
|
| 110 |
+
"source_files": 11467,
|
| 111 |
+
"source_bytes": 4226358508,
|
| 112 |
+
"archive_bytes": 4228658580,
|
| 113 |
+
"sha256": "77627814ad8e197ea23f6dc596b8007293bc05610858b5f3fc13a16b4e3a5a56",
|
| 114 |
+
"compression": "ZIP_STORED; chunks retain original codec",
|
| 115 |
+
"all_member_crc_verified": true,
|
| 116 |
+
"root_directory": "rotate_knob.zarr",
|
| 117 |
+
"elapsed_seconds": 29.12
|
| 118 |
+
},
|
| 119 |
+
{
|
| 120 |
+
"task": "tray_carry",
|
| 121 |
+
"path": "tray_carry/tray_carry.zip",
|
| 122 |
+
"source_files": 7306,
|
| 123 |
+
"source_bytes": 3335856718,
|
| 124 |
+
"archive_bytes": 3337278574,
|
| 125 |
+
"sha256": "de3be158c3c1901acbd4cd3f2fe07bfffdd636d930b16c5eb2b8cbb7d2429b30",
|
| 126 |
+
"compression": "ZIP_STORED; chunks retain original codec",
|
| 127 |
+
"all_member_crc_verified": true,
|
| 128 |
+
"root_directory": "tray_carry.zarr",
|
| 129 |
+
"elapsed_seconds": 24.17
|
| 130 |
+
}
|
| 131 |
+
],
|
| 132 |
+
"data_unchanged_by_packaging": true,
|
| 133 |
+
"archive_format": "ZIP64 with task.zarr/ root; one archive per task"
|
| 134 |
+
}
|
metadata.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "RevoBenchSimTactile10NoIdle",
|
| 3 |
+
"url": [
|
| 4 |
+
"https://huggingface.co/datasets/BrainCoTech/RevoTac-OXT"
|
| 5 |
+
],
|
| 6 |
+
"version": "0.1.0",
|
| 7 |
+
"description": "Ten scripted simulated tactile manipulation episodes from RevoBench: bimanual Revo3 dexterous hands; 32272 frames at 60 Hz. Rendered Taxim RGB, numeric indentation depth, HydroShear marker displacements, normalized pressure response, and target-specific PhysX pad contact wrench. Simulated data; development trajectories, one episode per task. Stable long holds removed offline without interpolation; original capture frame indices and times retained under edit_provenance. Not physics re-executed. Contributing institutions: HKUST(GZ), BrainCo, Georgia Tech.",
|
| 8 |
+
"type": "dexhand",
|
| 9 |
+
"sensor_image": [
|
| 10 |
+
"RevoBenchSimTaxim"
|
| 11 |
+
],
|
| 12 |
+
"sensor_array": [
|
| 13 |
+
"RevoBenchSimDepth"
|
| 14 |
+
],
|
| 15 |
+
"sensor_state": [
|
| 16 |
+
"RevoBenchSimHydroShear",
|
| 17 |
+
"RevoBenchSimPhysXContactWrench",
|
| 18 |
+
"RevoBenchSimPressure"
|
| 19 |
+
],
|
| 20 |
+
"task": 10,
|
| 21 |
+
"trajectory": 10,
|
| 22 |
+
"frame": 32272,
|
| 23 |
+
"label": [
|
| 24 |
+
"ego"
|
| 25 |
+
],
|
| 26 |
+
"contact": [
|
| 27 |
+
"davidxulixin@gmail.com"
|
| 28 |
+
],
|
| 29 |
+
"reference": {
|
| 30 |
+
"paper": "RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation",
|
| 31 |
+
"website": "https://braincotech.github.io/RevoSim-web/",
|
| 32 |
+
"authors": "Ke Zhang, Lixin Xu, Ziyi Wang, Xiyue Dong, Jie Tan, Lianghu Shao, Xianpeng Wang, Chuanyu Li, Renjing Xu."
|
| 33 |
+
},
|
| 34 |
+
"code_trigger": ""
|
| 35 |
+
}
|
qc/4d_invocations/cup_hang.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "cup_hang",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/cup_hang.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/cup_hang.zarr",
|
| 9 |
+
"inspection_frames": 698,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
69.61666870117188
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/hammer.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "hammer",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/hammer.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/hammer.zarr",
|
| 9 |
+
"inspection_frames": 311,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
30.91666603088379
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/insert_peg.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "insert_peg",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/insert_peg.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/insert_peg.zarr",
|
| 9 |
+
"inspection_frames": 569,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
56.75
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/insert_pipette.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "insert_pipette",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/insert_pipette.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/insert_pipette.zarr",
|
| 9 |
+
"inspection_frames": 491,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
48.93333435058594
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/kitchen.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "kitchen",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/kitchen.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/kitchen.zarr",
|
| 9 |
+
"inspection_frames": 944,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
94.23332977294922
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/plug_charger.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "plug_charger",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/plug_charger.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/plug_charger.zarr",
|
| 9 |
+
"inspection_frames": 446,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
44.5
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/pour_can.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "pour_can",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/pour_can.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/pour_can.zarr",
|
| 9 |
+
"inspection_frames": 777,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
77.53333282470703
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/power_drill.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "power_drill",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/power_drill.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/power_drill.zarr",
|
| 9 |
+
"inspection_frames": 479,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
47.75
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/rotate_knob.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "rotate_knob",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/rotate_knob.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/rotate_knob.zarr",
|
| 9 |
+
"inspection_frames": 411,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
40.96666717529297
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_invocations/tray_carry.json
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "tray_carry",
|
| 3 |
+
"upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 4 |
+
"upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a",
|
| 5 |
+
"patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425",
|
| 6 |
+
"entrypoint": "precheck_4dvis.main(args), complete upstream function",
|
| 7 |
+
"input": "QC_OUTPUT/inspection_samples/tray_carry.zarr",
|
| 8 |
+
"original_submission_data": "SOURCE_DATASET/zarr/tray_carry.zarr",
|
| 9 |
+
"inspection_frames": 266,
|
| 10 |
+
"time_range_seconds": [
|
| 11 |
+
0.0,
|
| 12 |
+
26.5
|
| 13 |
+
],
|
| 14 |
+
"nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.",
|
| 15 |
+
"display_hooks": [
|
| 16 |
+
"server port and capture controls",
|
| 17 |
+
"represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI",
|
| 18 |
+
"camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation"
|
| 19 |
+
],
|
| 20 |
+
"point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth"
|
| 21 |
+
}
|
qc/4d_recordings/cup_hang.recording.json
ADDED
|
@@ -0,0 +1,297 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "cup_hang",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
+
{
|
| 12 |
+
"inspection_frame": 0,
|
| 13 |
+
"view": "forward",
|
| 14 |
+
"retimed_frame": 0,
|
| 15 |
+
"original_capture_frame": 0,
|
| 16 |
+
"retimed_seconds": 0.0
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"inspection_frame": 37,
|
| 20 |
+
"view": "forward",
|
| 21 |
+
"retimed_frame": 222,
|
| 22 |
+
"original_capture_frame": 222,
|
| 23 |
+
"retimed_seconds": 3.700000047683716
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
+
"inspection_frame": 73,
|
| 27 |
+
"view": "forward",
|
| 28 |
+
"retimed_frame": 438,
|
| 29 |
+
"original_capture_frame": 438,
|
| 30 |
+
"retimed_seconds": 7.300000190734863
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"inspection_frame": 110,
|
| 34 |
+
"view": "forward",
|
| 35 |
+
"retimed_frame": 660,
|
| 36 |
+
"original_capture_frame": 660,
|
| 37 |
+
"retimed_seconds": 11.0
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"inspection_frame": 147,
|
| 41 |
+
"view": "forward",
|
| 42 |
+
"retimed_frame": 882,
|
| 43 |
+
"original_capture_frame": 882,
|
| 44 |
+
"retimed_seconds": 14.699999809265137
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"inspection_frame": 183,
|
| 48 |
+
"view": "forward",
|
| 49 |
+
"retimed_frame": 1098,
|
| 50 |
+
"original_capture_frame": 1098,
|
| 51 |
+
"retimed_seconds": 18.299999237060547
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"inspection_frame": 220,
|
| 55 |
+
"view": "forward",
|
| 56 |
+
"retimed_frame": 1320,
|
| 57 |
+
"original_capture_frame": 1320,
|
| 58 |
+
"retimed_seconds": 22.0
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"inspection_frame": 257,
|
| 62 |
+
"view": "forward",
|
| 63 |
+
"retimed_frame": 1542,
|
| 64 |
+
"original_capture_frame": 1542,
|
| 65 |
+
"retimed_seconds": 25.700000762939453
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"inspection_frame": 293,
|
| 69 |
+
"view": "forward",
|
| 70 |
+
"retimed_frame": 1758,
|
| 71 |
+
"original_capture_frame": 1758,
|
| 72 |
+
"retimed_seconds": 29.299999237060547
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"inspection_frame": 330,
|
| 76 |
+
"view": "forward",
|
| 77 |
+
"retimed_frame": 1980,
|
| 78 |
+
"original_capture_frame": 1980,
|
| 79 |
+
"retimed_seconds": 33.0
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"inspection_frame": 367,
|
| 83 |
+
"view": "forward",
|
| 84 |
+
"retimed_frame": 2202,
|
| 85 |
+
"original_capture_frame": 2202,
|
| 86 |
+
"retimed_seconds": 36.70000076293945
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"inspection_frame": 404,
|
| 90 |
+
"view": "forward",
|
| 91 |
+
"retimed_frame": 2424,
|
| 92 |
+
"original_capture_frame": 2424,
|
| 93 |
+
"retimed_seconds": 40.400001525878906
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"inspection_frame": 440,
|
| 97 |
+
"view": "forward",
|
| 98 |
+
"retimed_frame": 2640,
|
| 99 |
+
"original_capture_frame": 2640,
|
| 100 |
+
"retimed_seconds": 44.0
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"inspection_frame": 477,
|
| 104 |
+
"view": "forward",
|
| 105 |
+
"retimed_frame": 2862,
|
| 106 |
+
"original_capture_frame": 2862,
|
| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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| 130 |
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|
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| 144 |
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| 232 |
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|
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| 234 |
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| 235 |
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| 241 |
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| 242 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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},
|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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"retimed_seconds": 51.400001525878906
|
| 255 |
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},
|
| 256 |
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{
|
| 257 |
+
"inspection_frame": 550,
|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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},
|
| 263 |
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{
|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
+
"inspection_frame": 624,
|
| 272 |
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"view": "oblique",
|
| 273 |
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|
| 274 |
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"original_capture_frame": 3744,
|
| 275 |
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"retimed_seconds": 62.400001525878906
|
| 276 |
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},
|
| 277 |
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{
|
| 278 |
+
"inspection_frame": 660,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
"retimed_frame": 3960,
|
| 281 |
+
"original_capture_frame": 3960,
|
| 282 |
+
"retimed_seconds": 66.0
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 697,
|
| 286 |
+
"view": "oblique",
|
| 287 |
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"retimed_frame": 4177,
|
| 288 |
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"original_capture_frame": 4553,
|
| 289 |
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"retimed_seconds": 69.61666870117188
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/cup_hang.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/cup_hang_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:155029f249de66801100122bb0f7120dbcd231eea6ffb9d60104c44cd0af8dd7
|
| 3 |
+
size 273023
|
qc/4d_recordings/hammer.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "hammer",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
+
{
|
| 12 |
+
"inspection_frame": 0,
|
| 13 |
+
"view": "forward",
|
| 14 |
+
"retimed_frame": 0,
|
| 15 |
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"original_capture_frame": 0,
|
| 16 |
+
"retimed_seconds": 0.0
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"inspection_frame": 16,
|
| 20 |
+
"view": "forward",
|
| 21 |
+
"retimed_frame": 96,
|
| 22 |
+
"original_capture_frame": 96,
|
| 23 |
+
"retimed_seconds": 1.600000023841858
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
+
"inspection_frame": 33,
|
| 27 |
+
"view": "forward",
|
| 28 |
+
"retimed_frame": 198,
|
| 29 |
+
"original_capture_frame": 198,
|
| 30 |
+
"retimed_seconds": 3.299999952316284
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"inspection_frame": 49,
|
| 34 |
+
"view": "forward",
|
| 35 |
+
"retimed_frame": 294,
|
| 36 |
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"original_capture_frame": 294,
|
| 37 |
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"retimed_seconds": 4.900000095367432
|
| 38 |
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},
|
| 39 |
+
{
|
| 40 |
+
"inspection_frame": 65,
|
| 41 |
+
"view": "forward",
|
| 42 |
+
"retimed_frame": 390,
|
| 43 |
+
"original_capture_frame": 390,
|
| 44 |
+
"retimed_seconds": 6.5
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"inspection_frame": 82,
|
| 48 |
+
"view": "forward",
|
| 49 |
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"retimed_frame": 492,
|
| 50 |
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"original_capture_frame": 492,
|
| 51 |
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"retimed_seconds": 8.199999809265137
|
| 52 |
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},
|
| 53 |
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{
|
| 54 |
+
"inspection_frame": 98,
|
| 55 |
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"view": "forward",
|
| 56 |
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"retimed_frame": 588,
|
| 57 |
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"original_capture_frame": 588,
|
| 58 |
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"retimed_seconds": 9.800000190734863
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
+
"inspection_frame": 114,
|
| 62 |
+
"view": "forward",
|
| 63 |
+
"retimed_frame": 684,
|
| 64 |
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"original_capture_frame": 684,
|
| 65 |
+
"retimed_seconds": 11.399999618530273
|
| 66 |
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},
|
| 67 |
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{
|
| 68 |
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"inspection_frame": 131,
|
| 69 |
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| 70 |
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| 73 |
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| 74 |
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| 76 |
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| 77 |
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| 79 |
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| 80 |
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| 81 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 91 |
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| 94 |
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| 101 |
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| 256 |
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|
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| 263 |
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| 264 |
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|
| 265 |
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| 266 |
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|
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|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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},
|
| 277 |
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{
|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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},
|
| 284 |
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{
|
| 285 |
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"inspection_frame": 310,
|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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"retimed_seconds": 30.91666603088379
|
| 290 |
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}
|
| 291 |
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],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/hammer.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/hammer_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:88b3069fb183da7999dca8f9cf5fab13ac324f9e7c5225b384f0b865c4c9f836
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| 3 |
+
size 277508
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qc/4d_recordings/insert_peg.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
| 1 |
+
{
|
| 2 |
+
"task": "insert_peg",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
+
{
|
| 12 |
+
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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"retimed_seconds": 0.0
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"inspection_frame": 30,
|
| 20 |
+
"view": "forward",
|
| 21 |
+
"retimed_frame": 180,
|
| 22 |
+
"original_capture_frame": 180,
|
| 23 |
+
"retimed_seconds": 3.0
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
+
"inspection_frame": 60,
|
| 27 |
+
"view": "forward",
|
| 28 |
+
"retimed_frame": 360,
|
| 29 |
+
"original_capture_frame": 360,
|
| 30 |
+
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 39 |
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| 42 |
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| 80 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 233 |
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| 234 |
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| 235 |
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| 241 |
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| 242 |
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| 243 |
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| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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{
|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
+
"inspection_frame": 508,
|
| 272 |
+
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|
| 273 |
+
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|
| 274 |
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|
| 275 |
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|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
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|
| 279 |
+
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|
| 280 |
+
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|
| 281 |
+
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|
| 282 |
+
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|
| 283 |
+
},
|
| 284 |
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{
|
| 285 |
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"inspection_frame": 568,
|
| 286 |
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"view": "oblique",
|
| 287 |
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|
| 288 |
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|
| 289 |
+
"retimed_seconds": 56.75
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/insert_peg.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/insert_peg_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:c15f47c286558d7355bbf78a227e070fa6467b8e04046129e985ba0c557ed3da
|
| 3 |
+
size 279181
|
qc/4d_recordings/insert_pipette.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "insert_pipette",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
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],
|
| 9 |
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|
| 10 |
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| 11 |
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| 13 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 23 |
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| 24 |
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| 25 |
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| 27 |
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|
| 30 |
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|
| 31 |
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| 32 |
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| 34 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 44 |
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| 45 |
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| 48 |
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| 51 |
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| 52 |
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| 53 |
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| 59 |
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| 65 |
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| 66 |
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| 67 |
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| 69 |
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| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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{
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| 75 |
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| 76 |
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| 77 |
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|
| 79 |
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|
| 80 |
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|
| 83 |
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|
| 86 |
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| 87 |
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| 88 |
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| 90 |
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| 93 |
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| 94 |
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| 95 |
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| 102 |
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| 104 |
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| 105 |
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|
| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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| 115 |
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| 122 |
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| 123 |
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| 129 |
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| 130 |
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| 136 |
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| 165 |
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| 186 |
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| 199 |
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| 200 |
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| 201 |
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| 207 |
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| 214 |
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| 220 |
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| 221 |
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| 234 |
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|
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|
| 241 |
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| 242 |
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|
| 244 |
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| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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},
|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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},
|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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},
|
| 263 |
+
{
|
| 264 |
+
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|
| 265 |
+
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"inspection_frame": 438,
|
| 272 |
+
"view": "oblique",
|
| 273 |
+
"retimed_frame": 2628,
|
| 274 |
+
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|
| 275 |
+
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|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"inspection_frame": 464,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
"retimed_frame": 2784,
|
| 281 |
+
"original_capture_frame": 2837,
|
| 282 |
+
"retimed_seconds": 46.400001525878906
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 490,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 2936,
|
| 288 |
+
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|
| 289 |
+
"retimed_seconds": 48.93333435058594
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/insert_pipette.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/insert_pipette_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:fc8784fbd702811a9170a27fde8275f70fe6ccb29214e27dd5f130873af1fd2d
|
| 3 |
+
size 305547
|
qc/4d_recordings/kitchen.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task": "kitchen",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
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|
| 10 |
+
"frames": [
|
| 11 |
+
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
+
},
|
| 18 |
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{
|
| 19 |
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|
| 20 |
+
"view": "forward",
|
| 21 |
+
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|
| 22 |
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|
| 23 |
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"retimed_seconds": 5.0
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
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|
| 27 |
+
"view": "forward",
|
| 28 |
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|
| 29 |
+
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|
| 30 |
+
"retimed_seconds": 9.899999618530273
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
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|
| 34 |
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"view": "forward",
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
+
},
|
| 39 |
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{
|
| 40 |
+
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|
| 41 |
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"view": "forward",
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
+
},
|
| 46 |
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{
|
| 47 |
+
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|
| 48 |
+
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"retimed_seconds": 24.799999237060547
|
| 52 |
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},
|
| 53 |
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{
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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},
|
| 60 |
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{
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| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"retimed_seconds": 34.70000076293945
|
| 66 |
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},
|
| 67 |
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{
|
| 68 |
+
"inspection_frame": 397,
|
| 69 |
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"view": "forward",
|
| 70 |
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|
| 71 |
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|
| 72 |
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"retimed_seconds": 39.70000076293945
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"inspection_frame": 447,
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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},
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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},
|
| 109 |
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{
|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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},
|
| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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| 138 |
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|
| 139 |
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| 140 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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{
|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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|
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|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
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|
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|
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 177 |
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|
| 178 |
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| 179 |
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| 180 |
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|
| 181 |
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|
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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|
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|
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|
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|
| 192 |
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| 193 |
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|
| 195 |
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| 196 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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|
| 202 |
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| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
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|
| 212 |
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|
| 213 |
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|
| 214 |
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| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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| 222 |
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|
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| 224 |
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|
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|
| 226 |
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|
| 227 |
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|
| 228 |
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| 229 |
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|
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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| 237 |
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|
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|
| 240 |
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|
| 241 |
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|
| 242 |
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| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
+
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
+
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|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
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|
| 258 |
+
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|
| 259 |
+
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|
| 260 |
+
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|
| 261 |
+
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|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"inspection_frame": 794,
|
| 265 |
+
"view": "oblique",
|
| 266 |
+
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|
| 267 |
+
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|
| 268 |
+
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|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"inspection_frame": 844,
|
| 272 |
+
"view": "oblique",
|
| 273 |
+
"retimed_frame": 5064,
|
| 274 |
+
"original_capture_frame": 5064,
|
| 275 |
+
"retimed_seconds": 84.4000015258789
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"inspection_frame": 893,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
"retimed_frame": 5358,
|
| 281 |
+
"original_capture_frame": 5358,
|
| 282 |
+
"retimed_seconds": 89.30000305175781
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 943,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 5654,
|
| 288 |
+
"original_capture_frame": 5777,
|
| 289 |
+
"retimed_seconds": 94.23332977294922
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/kitchen.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/kitchen_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ade807d31b85d47e654f27aa71b31c7ce1be053c432cde77fcb1b7e9d37c4ef5
|
| 3 |
+
size 270404
|
qc/4d_recordings/plug_charger.recording.json
ADDED
|
@@ -0,0 +1,297 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"task": "plug_charger",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
+
{
|
| 12 |
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|
| 13 |
+
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|
| 14 |
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|
| 15 |
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|
| 16 |
+
"retimed_seconds": 0.0
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
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|
| 20 |
+
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|
| 21 |
+
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|
| 22 |
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|
| 23 |
+
"retimed_seconds": 2.299999952316284
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
+
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|
| 27 |
+
"view": "forward",
|
| 28 |
+
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|
| 29 |
+
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|
| 30 |
+
"retimed_seconds": 4.699999809265137
|
| 31 |
+
},
|
| 32 |
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{
|
| 33 |
+
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|
| 34 |
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"view": "forward",
|
| 35 |
+
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|
| 36 |
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|
| 37 |
+
"retimed_seconds": 7.0
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"inspection_frame": 94,
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
+
},
|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"view": "forward",
|
| 49 |
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|
| 50 |
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|
| 51 |
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"retimed_seconds": 11.699999809265137
|
| 52 |
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},
|
| 53 |
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{
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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|
| 62 |
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"view": "forward",
|
| 63 |
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|
| 64 |
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|
| 65 |
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"retimed_seconds": 16.399999618530273
|
| 66 |
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},
|
| 67 |
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{
|
| 68 |
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"inspection_frame": 187,
|
| 69 |
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"view": "forward",
|
| 70 |
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|
| 71 |
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|
| 72 |
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"retimed_seconds": 18.700000762939453
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
+
"inspection_frame": 211,
|
| 76 |
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"view": "forward",
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"inspection_frame": 234,
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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"retimed_seconds": 25.799999237060547
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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},
|
| 109 |
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{
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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},
|
| 116 |
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{
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"retimed_seconds": 35.099998474121094
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"inspection_frame": 375,
|
| 125 |
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"view": "forward",
|
| 126 |
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"retimed_frame": 2250,
|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"inspection_frame": 398,
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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"retimed_seconds": 39.79999923706055
|
| 136 |
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},
|
| 137 |
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{
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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},
|
| 144 |
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{
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
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|
| 153 |
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"view": "oblique",
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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},
|
| 193 |
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{
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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},
|
| 200 |
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{
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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},
|
| 207 |
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| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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},
|
| 214 |
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{
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| 215 |
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|
| 216 |
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|
| 217 |
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|
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|
| 219 |
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|
| 220 |
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|
| 221 |
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| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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| 228 |
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| 229 |
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|
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|
| 233 |
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|
| 234 |
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|
| 235 |
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{
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|
| 237 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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{
|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
+
},
|
| 256 |
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|
| 257 |
+
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|
| 258 |
+
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|
| 259 |
+
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|
| 260 |
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|
| 261 |
+
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|
| 262 |
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},
|
| 263 |
+
{
|
| 264 |
+
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|
| 265 |
+
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|
| 266 |
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|
| 267 |
+
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|
| 268 |
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"retimed_seconds": 37.5
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"inspection_frame": 398,
|
| 272 |
+
"view": "oblique",
|
| 273 |
+
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|
| 274 |
+
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|
| 275 |
+
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|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"inspection_frame": 422,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
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|
| 281 |
+
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|
| 282 |
+
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|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 445,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 2670,
|
| 288 |
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|
| 289 |
+
"retimed_seconds": 44.5
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/plug_charger.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/plug_charger_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a83d3fd294ace2e2bbee3a0492bfd41131feb445489c7a85097442c76386a797
|
| 3 |
+
size 292714
|
qc/4d_recordings/pour_can.recording.json
ADDED
|
@@ -0,0 +1,297 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"task": "pour_can",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
+
{
|
| 12 |
+
"inspection_frame": 0,
|
| 13 |
+
"view": "forward",
|
| 14 |
+
"retimed_frame": 0,
|
| 15 |
+
"original_capture_frame": 0,
|
| 16 |
+
"retimed_seconds": 0.0
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"inspection_frame": 41,
|
| 20 |
+
"view": "forward",
|
| 21 |
+
"retimed_frame": 246,
|
| 22 |
+
"original_capture_frame": 246,
|
| 23 |
+
"retimed_seconds": 4.099999904632568
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
+
"inspection_frame": 82,
|
| 27 |
+
"view": "forward",
|
| 28 |
+
"retimed_frame": 492,
|
| 29 |
+
"original_capture_frame": 492,
|
| 30 |
+
"retimed_seconds": 8.199999809265137
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"inspection_frame": 123,
|
| 34 |
+
"view": "forward",
|
| 35 |
+
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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{
|
| 40 |
+
"inspection_frame": 163,
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
+
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|
| 46 |
+
{
|
| 47 |
+
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|
| 48 |
+
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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},
|
| 67 |
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{
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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| 104 |
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| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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| 118 |
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|
| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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| 151 |
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{
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| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 163 |
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| 164 |
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| 165 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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| 192 |
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| 193 |
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|
| 281 |
+
"original_capture_frame": 4445,
|
| 282 |
+
"retimed_seconds": 73.5
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 776,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 4652,
|
| 288 |
+
"original_capture_frame": 4889,
|
| 289 |
+
"retimed_seconds": 77.53333282470703
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/pour_can.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/pour_can_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:827cdf74e4640e1d5ca201d6c15c561b62e3e60df27b32fd4cbaa07289c88454
|
| 3 |
+
size 241344
|
qc/4d_recordings/power_drill.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "power_drill",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
+
{
|
| 12 |
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|
| 13 |
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"view": "forward",
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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},
|
| 18 |
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{
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"retimed_seconds": 2.5
|
| 24 |
+
},
|
| 25 |
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{
|
| 26 |
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|
| 27 |
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"view": "forward",
|
| 28 |
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"retimed_frame": 300,
|
| 29 |
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|
| 30 |
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"retimed_seconds": 5.0
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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"inspection_frame": 75,
|
| 34 |
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"view": "forward",
|
| 35 |
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|
| 36 |
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|
| 37 |
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"retimed_seconds": 7.5
|
| 38 |
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},
|
| 39 |
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{
|
| 40 |
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|
| 41 |
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"view": "forward",
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"view": "forward",
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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},
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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},
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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},
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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|
| 76 |
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|
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|
| 79 |
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| 80 |
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| 82 |
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|
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| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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|
| 91 |
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|
| 93 |
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| 94 |
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|
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|
| 100 |
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| 101 |
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|
| 149 |
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| 150 |
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|
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|
| 164 |
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},
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| 165 |
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| 166 |
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| 167 |
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|
| 171 |
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|
| 244 |
+
"view": "oblique",
|
| 245 |
+
"retimed_frame": 1962,
|
| 246 |
+
"original_capture_frame": 2042,
|
| 247 |
+
"retimed_seconds": 32.70000076293945
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"inspection_frame": 352,
|
| 251 |
+
"view": "oblique",
|
| 252 |
+
"retimed_frame": 2112,
|
| 253 |
+
"original_capture_frame": 2192,
|
| 254 |
+
"retimed_seconds": 35.20000076293945
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"inspection_frame": 377,
|
| 258 |
+
"view": "oblique",
|
| 259 |
+
"retimed_frame": 2262,
|
| 260 |
+
"original_capture_frame": 2342,
|
| 261 |
+
"retimed_seconds": 37.70000076293945
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"inspection_frame": 403,
|
| 265 |
+
"view": "oblique",
|
| 266 |
+
"retimed_frame": 2418,
|
| 267 |
+
"original_capture_frame": 2498,
|
| 268 |
+
"retimed_seconds": 40.29999923706055
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"inspection_frame": 428,
|
| 272 |
+
"view": "oblique",
|
| 273 |
+
"retimed_frame": 2568,
|
| 274 |
+
"original_capture_frame": 2648,
|
| 275 |
+
"retimed_seconds": 42.79999923706055
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"inspection_frame": 453,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
"retimed_frame": 2718,
|
| 281 |
+
"original_capture_frame": 2798,
|
| 282 |
+
"retimed_seconds": 45.29999923706055
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 478,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 2865,
|
| 288 |
+
"original_capture_frame": 3035,
|
| 289 |
+
"retimed_seconds": 47.75
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/power_drill.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/power_drill_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a37c973bf4f1cccddca258973e0ef7510f31514f784e2195c3a63def97f0b2be
|
| 3 |
+
size 285179
|
qc/4d_recordings/rotate_knob.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "rotate_knob",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
+
"fps": 4,
|
| 10 |
+
"frames": [
|
| 11 |
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{
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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},
|
| 18 |
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{
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"retimed_seconds": 2.200000047683716
|
| 24 |
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},
|
| 25 |
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{
|
| 26 |
+
"inspection_frame": 43,
|
| 27 |
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"view": "forward",
|
| 28 |
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|
| 29 |
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"original_capture_frame": 258,
|
| 30 |
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"retimed_seconds": 4.300000190734863
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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|
| 34 |
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"view": "forward",
|
| 35 |
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|
| 36 |
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|
| 37 |
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"retimed_seconds": 6.5
|
| 38 |
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},
|
| 39 |
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{
|
| 40 |
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|
| 41 |
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"view": "forward",
|
| 42 |
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|
| 43 |
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|
| 44 |
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"retimed_seconds": 8.600000381469727
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"view": "forward",
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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},
|
| 53 |
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{
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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},
|
| 67 |
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{
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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},
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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| 97 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 164 |
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| 165 |
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| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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},
|
| 235 |
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{
|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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{
|
| 243 |
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"inspection_frame": 281,
|
| 244 |
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"view": "oblique",
|
| 245 |
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|
| 246 |
+
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|
| 247 |
+
"retimed_seconds": 28.100000381469727
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"inspection_frame": 302,
|
| 251 |
+
"view": "oblique",
|
| 252 |
+
"retimed_frame": 1812,
|
| 253 |
+
"original_capture_frame": 1812,
|
| 254 |
+
"retimed_seconds": 30.200000762939453
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"inspection_frame": 324,
|
| 258 |
+
"view": "oblique",
|
| 259 |
+
"retimed_frame": 1944,
|
| 260 |
+
"original_capture_frame": 1944,
|
| 261 |
+
"retimed_seconds": 32.400001525878906
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"inspection_frame": 345,
|
| 265 |
+
"view": "oblique",
|
| 266 |
+
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|
| 267 |
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"original_capture_frame": 2070,
|
| 268 |
+
"retimed_seconds": 34.5
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"inspection_frame": 367,
|
| 272 |
+
"view": "oblique",
|
| 273 |
+
"retimed_frame": 2202,
|
| 274 |
+
"original_capture_frame": 2202,
|
| 275 |
+
"retimed_seconds": 36.70000076293945
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"inspection_frame": 388,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
"retimed_frame": 2328,
|
| 281 |
+
"original_capture_frame": 2328,
|
| 282 |
+
"retimed_seconds": 38.79999923706055
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"inspection_frame": 410,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 2458,
|
| 288 |
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"original_capture_frame": 2601,
|
| 289 |
+
"retimed_seconds": 40.96666717529297
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/rotate_knob.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/rotate_knob_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:a054617fd2621c9a6130b5b337890d62d7f5c9e8ceb6e781bbba7dca7cecb9a1
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| 3 |
+
size 259356
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qc/4d_recordings/tray_carry.recording.json
ADDED
|
@@ -0,0 +1,297 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task": "tray_carry",
|
| 3 |
+
"upstream_entrypoint": "Complete precheck_4dvis.main; nominal intrinsics patch and recording/display hooks documented in 4d_runs/<task>/invocation.json",
|
| 4 |
+
"sampling": "10Hz full-duration view from final cropped dataset, RGB half resolution; this screen capture selects 20 positions per perspective",
|
| 5 |
+
"viewpoints": [
|
| 6 |
+
"camera forward",
|
| 7 |
+
"oblique world"
|
| 8 |
+
],
|
| 9 |
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|
| 10 |
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"frames": [
|
| 11 |
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{
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| 12 |
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|
| 13 |
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|
| 14 |
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|
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|
| 16 |
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|
| 17 |
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},
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"retimed_seconds": 1.399999976158142
|
| 24 |
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},
|
| 25 |
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{
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| 26 |
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"inspection_frame": 28,
|
| 27 |
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"view": "forward",
|
| 28 |
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"retimed_frame": 168,
|
| 29 |
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"original_capture_frame": 168,
|
| 30 |
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"retimed_seconds": 2.799999952316284
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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|
| 34 |
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"view": "forward",
|
| 35 |
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|
| 36 |
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|
| 37 |
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"retimed_seconds": 4.199999809265137
|
| 38 |
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},
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
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|
| 58 |
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|
| 59 |
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| 60 |
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| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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|
| 67 |
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{
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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|
| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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| 84 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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| 91 |
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| 92 |
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|
| 93 |
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| 94 |
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| 95 |
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|
| 100 |
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| 164 |
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| 165 |
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{
|
| 166 |
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"inspection_frame": 28,
|
| 167 |
+
"view": "oblique",
|
| 168 |
+
"retimed_frame": 168,
|
| 169 |
+
"original_capture_frame": 168,
|
| 170 |
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"retimed_seconds": 2.799999952316284
|
| 171 |
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},
|
| 172 |
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{
|
| 173 |
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"inspection_frame": 42,
|
| 174 |
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"view": "oblique",
|
| 175 |
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"retimed_frame": 252,
|
| 176 |
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"original_capture_frame": 252,
|
| 177 |
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"retimed_seconds": 4.199999809265137
|
| 178 |
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},
|
| 179 |
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{
|
| 180 |
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"inspection_frame": 56,
|
| 181 |
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"view": "oblique",
|
| 182 |
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"retimed_frame": 336,
|
| 183 |
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"original_capture_frame": 336,
|
| 184 |
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"retimed_seconds": 5.599999904632568
|
| 185 |
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},
|
| 186 |
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{
|
| 187 |
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"inspection_frame": 70,
|
| 188 |
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"view": "oblique",
|
| 189 |
+
"retimed_frame": 420,
|
| 190 |
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"original_capture_frame": 420,
|
| 191 |
+
"retimed_seconds": 7.0
|
| 192 |
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},
|
| 193 |
+
{
|
| 194 |
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"inspection_frame": 84,
|
| 195 |
+
"view": "oblique",
|
| 196 |
+
"retimed_frame": 504,
|
| 197 |
+
"original_capture_frame": 504,
|
| 198 |
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"retimed_seconds": 8.399999618530273
|
| 199 |
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},
|
| 200 |
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{
|
| 201 |
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"inspection_frame": 98,
|
| 202 |
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"view": "oblique",
|
| 203 |
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"retimed_frame": 588,
|
| 204 |
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"original_capture_frame": 588,
|
| 205 |
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"retimed_seconds": 9.800000190734863
|
| 206 |
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},
|
| 207 |
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{
|
| 208 |
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"inspection_frame": 112,
|
| 209 |
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"view": "oblique",
|
| 210 |
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"retimed_frame": 672,
|
| 211 |
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"original_capture_frame": 672,
|
| 212 |
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"retimed_seconds": 11.199999809265137
|
| 213 |
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},
|
| 214 |
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{
|
| 215 |
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"inspection_frame": 126,
|
| 216 |
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"view": "oblique",
|
| 217 |
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"retimed_frame": 756,
|
| 218 |
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"original_capture_frame": 756,
|
| 219 |
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"retimed_seconds": 12.600000381469727
|
| 220 |
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},
|
| 221 |
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{
|
| 222 |
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"inspection_frame": 139,
|
| 223 |
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"view": "oblique",
|
| 224 |
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"retimed_frame": 834,
|
| 225 |
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"original_capture_frame": 834,
|
| 226 |
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"retimed_seconds": 13.899999618530273
|
| 227 |
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},
|
| 228 |
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{
|
| 229 |
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"inspection_frame": 153,
|
| 230 |
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"view": "oblique",
|
| 231 |
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"retimed_frame": 918,
|
| 232 |
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"original_capture_frame": 918,
|
| 233 |
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"retimed_seconds": 15.300000190734863
|
| 234 |
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},
|
| 235 |
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{
|
| 236 |
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"inspection_frame": 167,
|
| 237 |
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"view": "oblique",
|
| 238 |
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"retimed_frame": 1002,
|
| 239 |
+
"original_capture_frame": 1052,
|
| 240 |
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"retimed_seconds": 16.700000762939453
|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
+
"inspection_frame": 181,
|
| 244 |
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"view": "oblique",
|
| 245 |
+
"retimed_frame": 1086,
|
| 246 |
+
"original_capture_frame": 1136,
|
| 247 |
+
"retimed_seconds": 18.100000381469727
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"inspection_frame": 195,
|
| 251 |
+
"view": "oblique",
|
| 252 |
+
"retimed_frame": 1170,
|
| 253 |
+
"original_capture_frame": 1220,
|
| 254 |
+
"retimed_seconds": 19.5
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"inspection_frame": 209,
|
| 258 |
+
"view": "oblique",
|
| 259 |
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"retimed_frame": 1254,
|
| 260 |
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"original_capture_frame": 1304,
|
| 261 |
+
"retimed_seconds": 20.899999618530273
|
| 262 |
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},
|
| 263 |
+
{
|
| 264 |
+
"inspection_frame": 223,
|
| 265 |
+
"view": "oblique",
|
| 266 |
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"retimed_frame": 1338,
|
| 267 |
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"original_capture_frame": 1388,
|
| 268 |
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"retimed_seconds": 22.299999237060547
|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
+
"inspection_frame": 237,
|
| 272 |
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"view": "oblique",
|
| 273 |
+
"retimed_frame": 1422,
|
| 274 |
+
"original_capture_frame": 1472,
|
| 275 |
+
"retimed_seconds": 23.700000762939453
|
| 276 |
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},
|
| 277 |
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{
|
| 278 |
+
"inspection_frame": 251,
|
| 279 |
+
"view": "oblique",
|
| 280 |
+
"retimed_frame": 1506,
|
| 281 |
+
"original_capture_frame": 1556,
|
| 282 |
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"retimed_seconds": 25.100000381469727
|
| 283 |
+
},
|
| 284 |
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{
|
| 285 |
+
"inspection_frame": 265,
|
| 286 |
+
"view": "oblique",
|
| 287 |
+
"retimed_frame": 1590,
|
| 288 |
+
"original_capture_frame": 1705,
|
| 289 |
+
"retimed_seconds": 26.5
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"limitations": [
|
| 293 |
+
"No depth point cloud was recorded",
|
| 294 |
+
"Screen capture checks coordinate trajectories; no automatic semantic pass implied",
|
| 295 |
+
"Frustum image plane hidden to expose axes; synchronized RGB remains visible in sidebar"
|
| 296 |
+
]
|
| 297 |
+
}
|
qc/4d_recordings/tray_carry.review_sheet.jpg
ADDED
|
Git LFS Details
|
qc/4d_recordings/tray_carry_4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:34bc57c9378f6e28484c6e20398e379cfeeedbf656f6adf99c413742e9a2ca16
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| 3 |
+
size 317511
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qc/4d_viser_check.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:eb585ffeec631dacb46bb76d41c27b80978eeb314d15856ffaebc73a97344f8d
|
| 3 |
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size 2488939
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qc/4d_visual_review.json
ADDED
|
@@ -0,0 +1,100 @@
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"status": "reviewed_with_limitations",
|
| 3 |
+
"tasks": [
|
| 4 |
+
{
|
| 5 |
+
"task": "cup_hang",
|
| 6 |
+
"reviewer": "Codex multimodal agent",
|
| 7 |
+
"visual_evidence": "4d_recordings/cup_hang.review_sheet.jpg",
|
| 8 |
+
"sha256": "9b51d068b17997dcc171a374a8a94383c330ff57bec26c3fe23298fe487d03d7",
|
| 9 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 10 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 11 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 12 |
+
},
|
| 13 |
+
{
|
| 14 |
+
"task": "hammer",
|
| 15 |
+
"reviewer": "Codex multimodal agent",
|
| 16 |
+
"visual_evidence": "4d_recordings/hammer.review_sheet.jpg",
|
| 17 |
+
"sha256": "68c33fd8a0da99471357925c40cf38a79aec4b3ae88aa8eaca13603d3aa8e229",
|
| 18 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 19 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 20 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"task": "insert_peg",
|
| 24 |
+
"reviewer": "Codex multimodal agent",
|
| 25 |
+
"visual_evidence": "4d_recordings/insert_peg.review_sheet.jpg",
|
| 26 |
+
"sha256": "3a87fd50d128fd825ee6a3fb05f9ae334296506271eaa2fe5760e0137c215b5e",
|
| 27 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 28 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 29 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"task": "insert_pipette",
|
| 33 |
+
"reviewer": "Codex multimodal agent",
|
| 34 |
+
"visual_evidence": "4d_recordings/insert_pipette.review_sheet.jpg",
|
| 35 |
+
"sha256": "a07fd60acee09cb73ffb39e45d8c8c78725f6c20fad08d7fb0124bbea9dafbf6",
|
| 36 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 37 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 38 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"task": "kitchen",
|
| 42 |
+
"reviewer": "Codex multimodal agent",
|
| 43 |
+
"visual_evidence": "4d_recordings/kitchen.review_sheet.jpg",
|
| 44 |
+
"sha256": "01abdeacdecf0d6a855b3f45a948f45611c26eb4a91b1ebc2cb36c75051dfa99",
|
| 45 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 46 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 47 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"task": "plug_charger",
|
| 51 |
+
"reviewer": "Codex multimodal agent",
|
| 52 |
+
"visual_evidence": "4d_recordings/plug_charger.review_sheet.jpg",
|
| 53 |
+
"sha256": "223836ff5336f3344cbc626c3e2794bfcc683fe6d50e23ac34705f6a800fa4b9",
|
| 54 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 55 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 56 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"task": "pour_can",
|
| 60 |
+
"reviewer": "Codex multimodal agent",
|
| 61 |
+
"visual_evidence": "4d_recordings/pour_can.review_sheet.jpg",
|
| 62 |
+
"sha256": "14688e605b7f044fde86e7a074f9e47d9579b1726f1b547b28e2b1873d1da155",
|
| 63 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 64 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 65 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"task": "power_drill",
|
| 69 |
+
"reviewer": "Codex multimodal agent",
|
| 70 |
+
"visual_evidence": "4d_recordings/power_drill.review_sheet.jpg",
|
| 71 |
+
"sha256": "d3bda89aa34b73c44c297bb1165a52aeff3697fede563f8fd5644156761ddbf7",
|
| 72 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 73 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 74 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"task": "rotate_knob",
|
| 78 |
+
"reviewer": "Codex multimodal agent",
|
| 79 |
+
"visual_evidence": "4d_recordings/rotate_knob.review_sheet.jpg",
|
| 80 |
+
"sha256": "c1d11af608127c9ac50cf1d8fd27e206330d4a3b0e95a34f020b7a24e4469562",
|
| 81 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 82 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 83 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"task": "tray_carry",
|
| 87 |
+
"reviewer": "Codex multimodal agent",
|
| 88 |
+
"visual_evidence": "4d_recordings/tray_carry.review_sheet.jpg",
|
| 89 |
+
"sha256": "433302f4f9a501a2dc3dacdc0b8eabd249ffe25d6de91792f3e8862802ed0219",
|
| 90 |
+
"viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots",
|
| 91 |
+
"finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.",
|
| 92 |
+
"limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check."
|
| 93 |
+
}
|
| 94 |
+
],
|
| 95 |
+
"full_frame_numeric_evidence": "full_frame_numeric_checks.json",
|
| 96 |
+
"axis_evidence": "palm_axis_semantic_checks.json",
|
| 97 |
+
"recording_validation": "media_validation.json",
|
| 98 |
+
"adaptations": "4d_invocations/<task>.json and reference/4d_intrinsics.patch",
|
| 99 |
+
"not_an_automatic_official_pass": true
|
| 100 |
+
}
|
qc/agent_semantic_review.json
ADDED
|
@@ -0,0 +1,1550 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"reviewer": "Codex multimodal agent in this conversation",
|
| 3 |
+
"generated_at": "2026-10-23T15:22:58.076479+00:00",
|
| 4 |
+
"review_type": "agent_semantic_review",
|
| 5 |
+
"official_external_vlm_result": false,
|
| 6 |
+
"external_api_called_successfully": false,
|
| 7 |
+
"upstream_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126",
|
| 8 |
+
"dataset_root": "SOURCE_DATASET/zarr",
|
| 9 |
+
"scope": {
|
| 10 |
+
"tasks": 10,
|
| 11 |
+
"full_numeric_frames": 32272,
|
| 12 |
+
"visual_review": "Sampled scene and both-hand optical montages, force-change events, plus 4D browser review sheets. Not visual inspection of every native video frame.",
|
| 13 |
+
"originals_preserved": true,
|
| 14 |
+
"physics_rerun": false,
|
| 15 |
+
"numeric_api_scores": null
|
| 16 |
+
},
|
| 17 |
+
"limitations": [
|
| 18 |
+
"官方 precheck_vlm.py 的模型返回为空，原因 missing_api_key；官方 JSON 原样保存。本报告是用户授权的另一种审查证据，不冒充官方 API 结果或 organizer 验收。",
|
| 19 |
+
"官方脚本只选排序后的首个 RGB 与首个触觉字段；本次补查双手光学、深度、wrench、marker、压力，避免右手任务只看左手触觉。",
|
| 20 |
+
"压力是非负归一化响应，不是 Pa/N；光学为 DIP，压力为掌心/MCP/PIP，二者覆盖不同。",
|
| 21 |
+
"数据来自模拟 Taxim；RGB marker warping 未实现，不能声称真实触觉传感器保真度或 marker 图像动态完整。",
|
| 22 |
+
"触觉 facade 为单目标，证据只覆盖声明的当前目标；不证明未记录的所有物体/桌面接触。",
|
| 23 |
+
"4D 使用 10 Hz、320x240 RGB 检查副本和完整官方主函数；无场景深度所以 -d 禁用点云。名义内参及显示适配另有记录，不是像素级相机标定验收。",
|
| 24 |
+
"全部 32272 帧规范位姿与之前验证的 FK 源逐帧对应；源采集成功标志不是剪辑时间线动力学重跑或统计成功率。"
|
| 25 |
+
],
|
| 26 |
+
"results": [
|
| 27 |
+
{
|
| 28 |
+
"task": "cup_hang",
|
| 29 |
+
"frames": 4178,
|
| 30 |
+
"instruction": "Pick up the cup and hang it securely on the rack branch, then release it and withdraw the hand.",
|
| 31 |
+
"review_status": "reviewed_with_limitations",
|
| 32 |
+
"sync": {
|
| 33 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 34 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 35 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 36 |
+
},
|
| 37 |
+
"contact_consistency": {
|
| 38 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 39 |
+
"observation": "右手触觉在持杯期间变化，释放后回落，左手保持无接触。"
|
| 40 |
+
},
|
| 41 |
+
"signal_health": {
|
| 42 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 43 |
+
"full_frame_checks": {
|
| 44 |
+
"left": {
|
| 45 |
+
"contact_frames_per_finger": [
|
| 46 |
+
0,
|
| 47 |
+
0,
|
| 48 |
+
0,
|
| 49 |
+
0,
|
| 50 |
+
0
|
| 51 |
+
],
|
| 52 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 53 |
+
"force_peak_N": 0.0,
|
| 54 |
+
"force_peak_retimed_frame": 0,
|
| 55 |
+
"force_peak_original_frame": 0,
|
| 56 |
+
"force_peak_finger": "thumb",
|
| 57 |
+
"force_frames_gt_100N": 0,
|
| 58 |
+
"force_peak_neighbors_N": [
|
| 59 |
+
0.0,
|
| 60 |
+
0.0,
|
| 61 |
+
0.0
|
| 62 |
+
],
|
| 63 |
+
"pressure_all_zero": true,
|
| 64 |
+
"pressure_peak_response": 0.0,
|
| 65 |
+
"pressure_nonnegative": true,
|
| 66 |
+
"finite_wrench_marker_pressure": true
|
| 67 |
+
},
|
| 68 |
+
"right": {
|
| 69 |
+
"contact_frames_per_finger": [
|
| 70 |
+
3121,
|
| 71 |
+
2993,
|
| 72 |
+
2988,
|
| 73 |
+
2988,
|
| 74 |
+
2986
|
| 75 |
+
],
|
| 76 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 77 |
+
"force_peak_N": 15.581062316894531,
|
| 78 |
+
"force_peak_retimed_frame": 2652,
|
| 79 |
+
"force_peak_original_frame": 2652,
|
| 80 |
+
"force_peak_finger": "ring",
|
| 81 |
+
"force_frames_gt_100N": 0,
|
| 82 |
+
"force_peak_neighbors_N": [
|
| 83 |
+
15.155916213989258,
|
| 84 |
+
15.145098686218262,
|
| 85 |
+
15.581062316894531,
|
| 86 |
+
15.145913124084473,
|
| 87 |
+
15.10184097290039
|
| 88 |
+
],
|
| 89 |
+
"pressure_all_zero": false,
|
| 90 |
+
"pressure_peak_response": 0.4910048842430115,
|
| 91 |
+
"pressure_nonnegative": true,
|
| 92 |
+
"finite_wrench_marker_pressure": true
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"sampled_depth_peak_m": {
|
| 96 |
+
"left": [
|
| 97 |
+
0.0,
|
| 98 |
+
0.0,
|
| 99 |
+
0.0,
|
| 100 |
+
0.0,
|
| 101 |
+
0.0
|
| 102 |
+
],
|
| 103 |
+
"right": [
|
| 104 |
+
0.0,
|
| 105 |
+
0.0013553071767091751,
|
| 106 |
+
0.00125783309340477,
|
| 107 |
+
0.0015480490401387215,
|
| 108 |
+
0.0012643225491046906
|
| 109 |
+
]
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"instruction_consistency": {
|
| 113 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 114 |
+
"observation": "右手抓杯、抬起并移向架枝，松手撤回后杯子仍挂在枝上。",
|
| 115 |
+
"auxiliary_evidence": "原始采集报告包含 100 个稳���支撑样本和释放后零手部接触；这不是剪辑时间线的物理重跑。",
|
| 116 |
+
"progress_numeric": {}
|
| 117 |
+
},
|
| 118 |
+
"sampling": {
|
| 119 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 120 |
+
"retimed_frame_indices": [
|
| 121 |
+
0,
|
| 122 |
+
278,
|
| 123 |
+
346,
|
| 124 |
+
556,
|
| 125 |
+
835,
|
| 126 |
+
1113,
|
| 127 |
+
1392,
|
| 128 |
+
1670,
|
| 129 |
+
1949,
|
| 130 |
+
2227,
|
| 131 |
+
2506,
|
| 132 |
+
2547,
|
| 133 |
+
2604,
|
| 134 |
+
2784,
|
| 135 |
+
3017,
|
| 136 |
+
3063,
|
| 137 |
+
3325,
|
| 138 |
+
3326,
|
| 139 |
+
3341,
|
| 140 |
+
3620,
|
| 141 |
+
3898,
|
| 142 |
+
4177
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
"evidence": [
|
| 146 |
+
{
|
| 147 |
+
"path": "signal_review/cup_hang/review_montage.png",
|
| 148 |
+
"sha256": "96c1eddf5ecd9dfda370c5ac123d97f9dbaf03d31ff7153f39bdbd282abbb2ca"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"path": "signal_review/cup_hang/signal_review.json",
|
| 152 |
+
"sha256": "66f2cf1ec37561f09449e941eaf2ce6ab643b5d2a16114ee345fc1d6027ec690"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"path": "4d_recordings/cup_hang.review_sheet.jpg",
|
| 156 |
+
"sha256": "9b51d068b17997dcc171a374a8a94383c330ff57bec26c3fe23298fe487d03d7"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"path": "4d_recordings/cup_hang.recording.json",
|
| 160 |
+
"sha256": "2aa7bec7c4af705aff0b6760e9d8620f3c871667dc758178be0e0197c541e947"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"warnings": []
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"task": "hammer",
|
| 167 |
+
"frames": 1856,
|
| 168 |
+
"instruction": "Pick up the hammer and use it to drive the nail into the board.",
|
| 169 |
+
"review_status": "reviewed_with_limitations",
|
| 170 |
+
"sync": {
|
| 171 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 172 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 173 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 174 |
+
},
|
| 175 |
+
"contact_consistency": {
|
| 176 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 177 |
+
"observation": "持锤期间右手光学触觉与力信号变化，左手无接触。"
|
| 178 |
+
},
|
| 179 |
+
"signal_health": {
|
| 180 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 181 |
+
"full_frame_checks": {
|
| 182 |
+
"left": {
|
| 183 |
+
"contact_frames_per_finger": [
|
| 184 |
+
0,
|
| 185 |
+
0,
|
| 186 |
+
0,
|
| 187 |
+
0,
|
| 188 |
+
0
|
| 189 |
+
],
|
| 190 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 191 |
+
"force_peak_N": 0.0,
|
| 192 |
+
"force_peak_retimed_frame": 0,
|
| 193 |
+
"force_peak_original_frame": 0,
|
| 194 |
+
"force_peak_finger": "thumb",
|
| 195 |
+
"force_frames_gt_100N": 0,
|
| 196 |
+
"force_peak_neighbors_N": [
|
| 197 |
+
0.0,
|
| 198 |
+
0.0,
|
| 199 |
+
0.0
|
| 200 |
+
],
|
| 201 |
+
"pressure_all_zero": true,
|
| 202 |
+
"pressure_peak_response": 0.0,
|
| 203 |
+
"pressure_nonnegative": true,
|
| 204 |
+
"finite_wrench_marker_pressure": true
|
| 205 |
+
},
|
| 206 |
+
"right": {
|
| 207 |
+
"contact_frames_per_finger": [
|
| 208 |
+
1447,
|
| 209 |
+
1457,
|
| 210 |
+
1458,
|
| 211 |
+
0,
|
| 212 |
+
739
|
| 213 |
+
],
|
| 214 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 215 |
+
"force_peak_N": 21.91008186340332,
|
| 216 |
+
"force_peak_retimed_frame": 529,
|
| 217 |
+
"force_peak_original_frame": 529,
|
| 218 |
+
"force_peak_finger": "index",
|
| 219 |
+
"force_frames_gt_100N": 0,
|
| 220 |
+
"force_peak_neighbors_N": [
|
| 221 |
+
16.36745262145996,
|
| 222 |
+
15.037910461425781,
|
| 223 |
+
21.91008186340332,
|
| 224 |
+
17.81552505493164,
|
| 225 |
+
16.0438232421875
|
| 226 |
+
],
|
| 227 |
+
"pressure_all_zero": true,
|
| 228 |
+
"pressure_peak_response": 0.0,
|
| 229 |
+
"pressure_nonnegative": true,
|
| 230 |
+
"finite_wrench_marker_pressure": true
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
"sampled_depth_peak_m": {
|
| 234 |
+
"left": [
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0,
|
| 238 |
+
0.0,
|
| 239 |
+
0.0
|
| 240 |
+
],
|
| 241 |
+
"right": [
|
| 242 |
+
0.004106936976313591,
|
| 243 |
+
0.003909296356141567,
|
| 244 |
+
0.0039843348786234856,
|
| 245 |
+
0.0,
|
| 246 |
+
0.003217014018446207
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"instruction_consistency": {
|
| 251 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 252 |
+
"observation": "右手拿起锤子并敲击板上的钉子；指令不要求最后放下锤子。",
|
| 253 |
+
"auxiliary_evidence": "原始验证记录钉子行程 0.0698794 m，手与钉子峰值接触力为零。",
|
| 254 |
+
"progress_numeric": {}
|
| 255 |
+
},
|
| 256 |
+
"sampling": {
|
| 257 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 258 |
+
"retimed_frame_indices": [
|
| 259 |
+
0,
|
| 260 |
+
123,
|
| 261 |
+
247,
|
| 262 |
+
371,
|
| 263 |
+
444,
|
| 264 |
+
494,
|
| 265 |
+
527,
|
| 266 |
+
529,
|
| 267 |
+
618,
|
| 268 |
+
742,
|
| 269 |
+
865,
|
| 270 |
+
989,
|
| 271 |
+
995,
|
| 272 |
+
1113,
|
| 273 |
+
1236,
|
| 274 |
+
1360,
|
| 275 |
+
1484,
|
| 276 |
+
1533,
|
| 277 |
+
1534,
|
| 278 |
+
1607,
|
| 279 |
+
1731,
|
| 280 |
+
1855
|
| 281 |
+
]
|
| 282 |
+
},
|
| 283 |
+
"evidence": [
|
| 284 |
+
{
|
| 285 |
+
"path": "signal_review/hammer/review_montage.png",
|
| 286 |
+
"sha256": "cfdd58373e2dfdd3a5e3943562ba85d59413ebbcedde63720f549741e6e8784d"
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"path": "signal_review/hammer/signal_review.json",
|
| 290 |
+
"sha256": "710a6d8900d62274d6fca9a3e967e818db0d1e80513205c7117c85f6a998e7a6"
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"path": "4d_recordings/hammer.review_sheet.jpg",
|
| 294 |
+
"sha256": "68c33fd8a0da99471357925c40cf38a79aec4b3ae88aa8eaca13603d3aa8e229"
|
| 295 |
+
},
|
| 296 |
+
{
|
| 297 |
+
"path": "4d_recordings/hammer.recording.json",
|
| 298 |
+
"sha256": "83d6ba82eed8a159fd7f0bd37f76c1dae1d034b2060ec29fa9d4f3e9a5b2cba4"
|
| 299 |
+
}
|
| 300 |
+
],
|
| 301 |
+
"warnings": [
|
| 302 |
+
{
|
| 303 |
+
"code": "active_hand_pressure_zero",
|
| 304 |
+
"severity": "coverage_note",
|
| 305 |
+
"hands": [
|
| 306 |
+
"right"
|
| 307 |
+
],
|
| 308 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 309 |
+
}
|
| 310 |
+
]
|
| 311 |
+
},
|
| 312 |
+
{
|
| 313 |
+
"task": "insert_peg",
|
| 314 |
+
"frames": 3406,
|
| 315 |
+
"instruction": "Pick up the peg with the left thumb, index and middle fingers, insert it into the hole, release and withdraw.",
|
| 316 |
+
"review_status": "reviewed_with_limitations",
|
| 317 |
+
"sync": {
|
| 318 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 319 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 320 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 321 |
+
},
|
| 322 |
+
"contact_consistency": {
|
| 323 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 324 |
+
"observation": "左拇指、食指、中指有接触，释放后光学响应回落，右手无接触。"
|
| 325 |
+
},
|
| 326 |
+
"signal_health": {
|
| 327 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 328 |
+
"full_frame_checks": {
|
| 329 |
+
"left": {
|
| 330 |
+
"contact_frames_per_finger": [
|
| 331 |
+
2124,
|
| 332 |
+
2142,
|
| 333 |
+
2061,
|
| 334 |
+
0,
|
| 335 |
+
0
|
| 336 |
+
],
|
| 337 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 338 |
+
"force_peak_N": 6.584502696990967,
|
| 339 |
+
"force_peak_retimed_frame": 1100,
|
| 340 |
+
"force_peak_original_frame": 1137,
|
| 341 |
+
"force_peak_finger": "thumb",
|
| 342 |
+
"force_frames_gt_100N": 0,
|
| 343 |
+
"force_peak_neighbors_N": [
|
| 344 |
+
5.693335056304932,
|
| 345 |
+
5.909355640411377,
|
| 346 |
+
6.584502696990967,
|
| 347 |
+
5.792125701904297,
|
| 348 |
+
5.84693717956543
|
| 349 |
+
],
|
| 350 |
+
"pressure_all_zero": true,
|
| 351 |
+
"pressure_peak_response": 0.0,
|
| 352 |
+
"pressure_nonnegative": true,
|
| 353 |
+
"finite_wrench_marker_pressure": true
|
| 354 |
+
},
|
| 355 |
+
"right": {
|
| 356 |
+
"contact_frames_per_finger": [
|
| 357 |
+
0,
|
| 358 |
+
0,
|
| 359 |
+
0,
|
| 360 |
+
0,
|
| 361 |
+
0
|
| 362 |
+
],
|
| 363 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 364 |
+
"force_peak_N": 0.0,
|
| 365 |
+
"force_peak_retimed_frame": 0,
|
| 366 |
+
"force_peak_original_frame": 0,
|
| 367 |
+
"force_peak_finger": "thumb",
|
| 368 |
+
"force_frames_gt_100N": 0,
|
| 369 |
+
"force_peak_neighbors_N": [
|
| 370 |
+
0.0,
|
| 371 |
+
0.0,
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"pressure_all_zero": true,
|
| 375 |
+
"pressure_peak_response": 0.0,
|
| 376 |
+
"pressure_nonnegative": true,
|
| 377 |
+
"finite_wrench_marker_pressure": true
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
"sampled_depth_peak_m": {
|
| 381 |
+
"left": [
|
| 382 |
+
0.0031607821583747864,
|
| 383 |
+
0.0,
|
| 384 |
+
0.0010020062327384949,
|
| 385 |
+
0.0,
|
| 386 |
+
0.0
|
| 387 |
+
],
|
| 388 |
+
"right": [
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0
|
| 394 |
+
]
|
| 395 |
+
}
|
| 396 |
+
},
|
| 397 |
+
"instruction_consistency": {
|
| 398 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 399 |
+
"observation": "左手抓取插销、对准孔插入、松手并撤回，终态插销留在孔中。",
|
| 400 |
+
"auxiliary_evidence": "最终 insertion_depth=0.07708171 m；几何标量需要结合画面解释。",
|
| 401 |
+
"progress_numeric": {
|
| 402 |
+
"observation.insertion_depth": {
|
| 403 |
+
"first": 1.178782227384545e-07,
|
| 404 |
+
"last": 0.07708171010017395,
|
| 405 |
+
"minimum": -0.04022303968667984,
|
| 406 |
+
"maximum": 0.079926036298275,
|
| 407 |
+
"peak_frame": 2984
|
| 408 |
+
}
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"sampling": {
|
| 412 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 413 |
+
"retimed_frame_indices": [
|
| 414 |
+
0,
|
| 415 |
+
227,
|
| 416 |
+
454,
|
| 417 |
+
681,
|
| 418 |
+
908,
|
| 419 |
+
935,
|
| 420 |
+
981,
|
| 421 |
+
1088,
|
| 422 |
+
1089,
|
| 423 |
+
1101,
|
| 424 |
+
1135,
|
| 425 |
+
1362,
|
| 426 |
+
1589,
|
| 427 |
+
1816,
|
| 428 |
+
2043,
|
| 429 |
+
2270,
|
| 430 |
+
2497,
|
| 431 |
+
2724,
|
| 432 |
+
2951,
|
| 433 |
+
2990,
|
| 434 |
+
3178,
|
| 435 |
+
3405
|
| 436 |
+
]
|
| 437 |
+
},
|
| 438 |
+
"evidence": [
|
| 439 |
+
{
|
| 440 |
+
"path": "signal_review/insert_peg/review_montage.png",
|
| 441 |
+
"sha256": "45df849435215626343db00e152be841a7c83ded3be7b7d74c57a4724477c1bd"
|
| 442 |
+
},
|
| 443 |
+
{
|
| 444 |
+
"path": "signal_review/insert_peg/signal_review.json",
|
| 445 |
+
"sha256": "af2b942b8e97bce5ea04dbfc8c256452d91b5f4540c0a5fc0121f3e92500c744"
|
| 446 |
+
},
|
| 447 |
+
{
|
| 448 |
+
"path": "4d_recordings/insert_peg.review_sheet.jpg",
|
| 449 |
+
"sha256": "3a87fd50d128fd825ee6a3fb05f9ae334296506271eaa2fe5760e0137c215b5e"
|
| 450 |
+
},
|
| 451 |
+
{
|
| 452 |
+
"path": "4d_recordings/insert_peg.recording.json",
|
| 453 |
+
"sha256": "650938cd6fce3cc6cb930dc09af3b24715e18c3c1ccc1d3f6d503d270c658666"
|
| 454 |
+
}
|
| 455 |
+
],
|
| 456 |
+
"warnings": [
|
| 457 |
+
{
|
| 458 |
+
"code": "active_hand_pressure_zero",
|
| 459 |
+
"severity": "coverage_note",
|
| 460 |
+
"hands": [
|
| 461 |
+
"left"
|
| 462 |
+
],
|
| 463 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 464 |
+
}
|
| 465 |
+
]
|
| 466 |
+
},
|
| 467 |
+
{
|
| 468 |
+
"task": "insert_pipette",
|
| 469 |
+
"frames": 2937,
|
| 470 |
+
"instruction": "Grasp the black handle of the pipette with three left fingers, turn its tip downward and insert it 5 cm into the container while maintaining the grasp.",
|
| 471 |
+
"review_status": "reviewed_with_limitations",
|
| 472 |
+
"sync": {
|
| 473 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 474 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 475 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 476 |
+
},
|
| 477 |
+
"contact_consistency": {
|
| 478 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 479 |
+
"observation": "左手三指触觉在持握和插入期间保持响应；末帧仍接触符合指令。"
|
| 480 |
+
},
|
| 481 |
+
"signal_health": {
|
| 482 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 483 |
+
"full_frame_checks": {
|
| 484 |
+
"left": {
|
| 485 |
+
"contact_frames_per_finger": [
|
| 486 |
+
1988,
|
| 487 |
+
1986,
|
| 488 |
+
1955,
|
| 489 |
+
0,
|
| 490 |
+
0
|
| 491 |
+
],
|
| 492 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 493 |
+
"force_peak_N": 15.653146743774414,
|
| 494 |
+
"force_peak_retimed_frame": 1067,
|
| 495 |
+
"force_peak_original_frame": 1067,
|
| 496 |
+
"force_peak_finger": "thumb",
|
| 497 |
+
"force_frames_gt_100N": 0,
|
| 498 |
+
"force_peak_neighbors_N": [
|
| 499 |
+
14.216329574584961,
|
| 500 |
+
14.87771987915039,
|
| 501 |
+
15.653146743774414,
|
| 502 |
+
14.890497207641602,
|
| 503 |
+
15.266229629516602
|
| 504 |
+
],
|
| 505 |
+
"pressure_all_zero": true,
|
| 506 |
+
"pressure_peak_response": 0.0,
|
| 507 |
+
"pressure_nonnegative": true,
|
| 508 |
+
"finite_wrench_marker_pressure": true
|
| 509 |
+
},
|
| 510 |
+
"right": {
|
| 511 |
+
"contact_frames_per_finger": [
|
| 512 |
+
0,
|
| 513 |
+
0,
|
| 514 |
+
0,
|
| 515 |
+
0,
|
| 516 |
+
0
|
| 517 |
+
],
|
| 518 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 519 |
+
"force_peak_N": 0.0,
|
| 520 |
+
"force_peak_retimed_frame": 0,
|
| 521 |
+
"force_peak_original_frame": 0,
|
| 522 |
+
"force_peak_finger": "thumb",
|
| 523 |
+
"force_frames_gt_100N": 0,
|
| 524 |
+
"force_peak_neighbors_N": [
|
| 525 |
+
0.0,
|
| 526 |
+
0.0,
|
| 527 |
+
0.0
|
| 528 |
+
],
|
| 529 |
+
"pressure_all_zero": true,
|
| 530 |
+
"pressure_peak_response": 0.0,
|
| 531 |
+
"pressure_nonnegative": true,
|
| 532 |
+
"finite_wrench_marker_pressure": true
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"sampled_depth_peak_m": {
|
| 536 |
+
"left": [
|
| 537 |
+
0.0017392244189977646,
|
| 538 |
+
0.0,
|
| 539 |
+
0.0015710433945059776,
|
| 540 |
+
0.0,
|
| 541 |
+
0.0
|
| 542 |
+
],
|
| 543 |
+
"right": [
|
| 544 |
+
0.0,
|
| 545 |
+
0.0,
|
| 546 |
+
0.0,
|
| 547 |
+
0.0,
|
| 548 |
+
0.0
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"instruction_consistency": {
|
| 553 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 554 |
+
"observation": "左手抓黑色柄、将尖端转向下插入容器，结束时继续持握。",
|
| 555 |
+
"auxiliary_evidence": "最终 insertion_depth=0.05033607 m，与要求的 5 cm 相符；初始标量不是单调任务进度。",
|
| 556 |
+
"progress_numeric": {
|
| 557 |
+
"observation.insertion_depth": {
|
| 558 |
+
"first": 0.10240007191896439,
|
| 559 |
+
"last": 0.050336066633462906,
|
| 560 |
+
"minimum": -0.08164524286985397,
|
| 561 |
+
"maximum": 0.10242033749818802,
|
| 562 |
+
"peak_frame": 957
|
| 563 |
+
}
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"sampling": {
|
| 567 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 568 |
+
"retimed_frame_indices": [
|
| 569 |
+
0,
|
| 570 |
+
195,
|
| 571 |
+
391,
|
| 572 |
+
587,
|
| 573 |
+
782,
|
| 574 |
+
978,
|
| 575 |
+
1061,
|
| 576 |
+
1174,
|
| 577 |
+
1198,
|
| 578 |
+
1316,
|
| 579 |
+
1327,
|
| 580 |
+
1356,
|
| 581 |
+
1357,
|
| 582 |
+
1370,
|
| 583 |
+
1565,
|
| 584 |
+
1761,
|
| 585 |
+
1957,
|
| 586 |
+
2153,
|
| 587 |
+
2348,
|
| 588 |
+
2544,
|
| 589 |
+
2740,
|
| 590 |
+
2936
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
"evidence": [
|
| 594 |
+
{
|
| 595 |
+
"path": "signal_review/insert_pipette/review_montage.png",
|
| 596 |
+
"sha256": "10e80bf9f1f7b48adf0b0f92e04724137131f53002b0c44ceeee3bd049458d94"
|
| 597 |
+
},
|
| 598 |
+
{
|
| 599 |
+
"path": "signal_review/insert_pipette/signal_review.json",
|
| 600 |
+
"sha256": "26d37c18ef741e11d0330f6bafbe9b5435b259e7da235b39a55a13e77d90ce74"
|
| 601 |
+
},
|
| 602 |
+
{
|
| 603 |
+
"path": "4d_recordings/insert_pipette.review_sheet.jpg",
|
| 604 |
+
"sha256": "a07fd60acee09cb73ffb39e45d8c8c78725f6c20fad08d7fb0124bbea9dafbf6"
|
| 605 |
+
},
|
| 606 |
+
{
|
| 607 |
+
"path": "4d_recordings/insert_pipette.recording.json",
|
| 608 |
+
"sha256": "47393a3f8b4780476754e5ae7c1064d362e06dd5fff8707ffae1d75336fb11ce"
|
| 609 |
+
}
|
| 610 |
+
],
|
| 611 |
+
"warnings": [
|
| 612 |
+
{
|
| 613 |
+
"code": "active_hand_pressure_zero",
|
| 614 |
+
"severity": "coverage_note",
|
| 615 |
+
"hands": [
|
| 616 |
+
"left"
|
| 617 |
+
],
|
| 618 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 619 |
+
}
|
| 620 |
+
]
|
| 621 |
+
},
|
| 622 |
+
{
|
| 623 |
+
"task": "kitchen",
|
| 624 |
+
"frames": 5655,
|
| 625 |
+
"instruction": "Transfer the potato piece and both meat pieces from the pan into the bowl, one at a time.",
|
| 626 |
+
"review_status": "reviewed_with_limitations",
|
| 627 |
+
"sync": {
|
| 628 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 629 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 630 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 631 |
+
},
|
| 632 |
+
"contact_consistency": {
|
| 633 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 634 |
+
"observation": "三次取放对应分段的右手触觉响应，其他手指的指尖接触计数为零。"
|
| 635 |
+
},
|
| 636 |
+
"signal_health": {
|
| 637 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 638 |
+
"full_frame_checks": {
|
| 639 |
+
"left": {
|
| 640 |
+
"contact_frames_per_finger": [
|
| 641 |
+
0,
|
| 642 |
+
0,
|
| 643 |
+
0,
|
| 644 |
+
0,
|
| 645 |
+
0
|
| 646 |
+
],
|
| 647 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 648 |
+
"force_peak_N": 0.0,
|
| 649 |
+
"force_peak_retimed_frame": 0,
|
| 650 |
+
"force_peak_original_frame": 0,
|
| 651 |
+
"force_peak_finger": "thumb",
|
| 652 |
+
"force_frames_gt_100N": 0,
|
| 653 |
+
"force_peak_neighbors_N": [
|
| 654 |
+
0.0,
|
| 655 |
+
0.0,
|
| 656 |
+
0.0
|
| 657 |
+
],
|
| 658 |
+
"pressure_all_zero": true,
|
| 659 |
+
"pressure_peak_response": 0.0,
|
| 660 |
+
"pressure_nonnegative": true,
|
| 661 |
+
"finite_wrench_marker_pressure": true
|
| 662 |
+
},
|
| 663 |
+
"right": {
|
| 664 |
+
"contact_frames_per_finger": [
|
| 665 |
+
3081,
|
| 666 |
+
2900,
|
| 667 |
+
0,
|
| 668 |
+
0,
|
| 669 |
+
0
|
| 670 |
+
],
|
| 671 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 672 |
+
"force_peak_N": 4.874019145965576,
|
| 673 |
+
"force_peak_retimed_frame": 2680,
|
| 674 |
+
"force_peak_original_frame": 2680,
|
| 675 |
+
"force_peak_finger": "thumb",
|
| 676 |
+
"force_frames_gt_100N": 0,
|
| 677 |
+
"force_peak_neighbors_N": [
|
| 678 |
+
0.8695693016052246,
|
| 679 |
+
1.0460257530212402,
|
| 680 |
+
4.874019145965576,
|
| 681 |
+
2.2692904472351074,
|
| 682 |
+
1.7413698434829712
|
| 683 |
+
],
|
| 684 |
+
"pressure_all_zero": true,
|
| 685 |
+
"pressure_peak_response": 0.0,
|
| 686 |
+
"pressure_nonnegative": true,
|
| 687 |
+
"finite_wrench_marker_pressure": true
|
| 688 |
+
}
|
| 689 |
+
},
|
| 690 |
+
"sampled_depth_peak_m": {
|
| 691 |
+
"left": [
|
| 692 |
+
0.0,
|
| 693 |
+
0.0,
|
| 694 |
+
0.0,
|
| 695 |
+
0.0,
|
| 696 |
+
0.0
|
| 697 |
+
],
|
| 698 |
+
"right": [
|
| 699 |
+
0.0033081797882914543,
|
| 700 |
+
0.00158772524446249,
|
| 701 |
+
0.0,
|
| 702 |
+
0.0,
|
| 703 |
+
0.0
|
| 704 |
+
]
|
| 705 |
+
}
|
| 706 |
+
},
|
| 707 |
+
"instruction_consistency": {
|
| 708 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 709 |
+
"observation": "右拇指和食指依次把土豆块及两块肉放进同一个碗。",
|
| 710 |
+
"auxiliary_evidence": "源报告三个目标均 inside_bowl=true。锅中剩余橙色物体是非目标胡萝卜，不是漏取的肉块。",
|
| 711 |
+
"progress_numeric": {}
|
| 712 |
+
},
|
| 713 |
+
"sampling": {
|
| 714 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 715 |
+
"retimed_frame_indices": [
|
| 716 |
+
0,
|
| 717 |
+
376,
|
| 718 |
+
709,
|
| 719 |
+
753,
|
| 720 |
+
1130,
|
| 721 |
+
1507,
|
| 722 |
+
1884,
|
| 723 |
+
2261,
|
| 724 |
+
2575,
|
| 725 |
+
2638,
|
| 726 |
+
2676,
|
| 727 |
+
2678,
|
| 728 |
+
2680,
|
| 729 |
+
2681,
|
| 730 |
+
3015,
|
| 731 |
+
3392,
|
| 732 |
+
3769,
|
| 733 |
+
4146,
|
| 734 |
+
4523,
|
| 735 |
+
4900,
|
| 736 |
+
5277,
|
| 737 |
+
5654
|
| 738 |
+
]
|
| 739 |
+
},
|
| 740 |
+
"evidence": [
|
| 741 |
+
{
|
| 742 |
+
"path": "signal_review/kitchen/review_montage.png",
|
| 743 |
+
"sha256": "473d5da83b655ae73aabdce746275b476275bf297b4dc45f49b7a323c0e52800"
|
| 744 |
+
},
|
| 745 |
+
{
|
| 746 |
+
"path": "signal_review/kitchen/signal_review.json",
|
| 747 |
+
"sha256": "fec13e00b4cf12bdd949f7a0dcd0b80c91a79138cb3209fe7c3f19d6c370068e"
|
| 748 |
+
},
|
| 749 |
+
{
|
| 750 |
+
"path": "4d_recordings/kitchen.review_sheet.jpg",
|
| 751 |
+
"sha256": "01abdeacdecf0d6a855b3f45a948f45611c26eb4a91b1ebc2cb36c75051dfa99"
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"path": "4d_recordings/kitchen.recording.json",
|
| 755 |
+
"sha256": "ad41ac73cfe9bbdae1a060a0d814b49423091e6aa5393a6a194e0507634729e2"
|
| 756 |
+
}
|
| 757 |
+
],
|
| 758 |
+
"warnings": [
|
| 759 |
+
{
|
| 760 |
+
"code": "active_hand_pressure_zero",
|
| 761 |
+
"severity": "coverage_note",
|
| 762 |
+
"hands": [
|
| 763 |
+
"right"
|
| 764 |
+
],
|
| 765 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 766 |
+
}
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
{
|
| 770 |
+
"task": "plug_charger",
|
| 771 |
+
"frames": 2671,
|
| 772 |
+
"instruction": "Pick up the charger with the left thumb, index and middle fingers, align both prongs with the receptacle, insert, release and withdraw.",
|
| 773 |
+
"review_status": "reviewed_with_warnings",
|
| 774 |
+
"sync": {
|
| 775 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 776 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 777 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 778 |
+
},
|
| 779 |
+
"contact_consistency": {
|
| 780 |
+
"assessment": "warning",
|
| 781 |
+
"observation": "食指和中指触觉明显；拇指 DIP 只有 8 帧接触，不能证明全程三指指尖稳定夹持。"
|
| 782 |
+
},
|
| 783 |
+
"signal_health": {
|
| 784 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 785 |
+
"full_frame_checks": {
|
| 786 |
+
"left": {
|
| 787 |
+
"contact_frames_per_finger": [
|
| 788 |
+
8,
|
| 789 |
+
1546,
|
| 790 |
+
1534,
|
| 791 |
+
0,
|
| 792 |
+
0
|
| 793 |
+
],
|
| 794 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 795 |
+
"force_peak_N": 4.836563587188721,
|
| 796 |
+
"force_peak_retimed_frame": 1112,
|
| 797 |
+
"force_peak_original_frame": 1157,
|
| 798 |
+
"force_peak_finger": "middle",
|
| 799 |
+
"force_frames_gt_100N": 0,
|
| 800 |
+
"force_peak_neighbors_N": [
|
| 801 |
+
4.399824619293213,
|
| 802 |
+
4.549205303192139,
|
| 803 |
+
4.836563587188721,
|
| 804 |
+
4.227552890777588,
|
| 805 |
+
4.071086406707764
|
| 806 |
+
],
|
| 807 |
+
"pressure_all_zero": true,
|
| 808 |
+
"pressure_peak_response": 0.0,
|
| 809 |
+
"pressure_nonnegative": true,
|
| 810 |
+
"finite_wrench_marker_pressure": true
|
| 811 |
+
},
|
| 812 |
+
"right": {
|
| 813 |
+
"contact_frames_per_finger": [
|
| 814 |
+
0,
|
| 815 |
+
0,
|
| 816 |
+
0,
|
| 817 |
+
0,
|
| 818 |
+
0
|
| 819 |
+
],
|
| 820 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 821 |
+
"force_peak_N": 0.0,
|
| 822 |
+
"force_peak_retimed_frame": 0,
|
| 823 |
+
"force_peak_original_frame": 0,
|
| 824 |
+
"force_peak_finger": "thumb",
|
| 825 |
+
"force_frames_gt_100N": 0,
|
| 826 |
+
"force_peak_neighbors_N": [
|
| 827 |
+
0.0,
|
| 828 |
+
0.0,
|
| 829 |
+
0.0
|
| 830 |
+
],
|
| 831 |
+
"pressure_all_zero": true,
|
| 832 |
+
"pressure_peak_response": 0.0,
|
| 833 |
+
"pressure_nonnegative": true,
|
| 834 |
+
"finite_wrench_marker_pressure": true
|
| 835 |
+
}
|
| 836 |
+
},
|
| 837 |
+
"sampled_depth_peak_m": {
|
| 838 |
+
"left": [
|
| 839 |
+
0.001701229251921177,
|
| 840 |
+
0.0002354346215724945,
|
| 841 |
+
0.006220595445483923,
|
| 842 |
+
0.0,
|
| 843 |
+
0.0
|
| 844 |
+
],
|
| 845 |
+
"right": [
|
| 846 |
+
0.0,
|
| 847 |
+
0.0,
|
| 848 |
+
0.0,
|
| 849 |
+
0.0,
|
| 850 |
+
0.0
|
| 851 |
+
]
|
| 852 |
+
}
|
| 853 |
+
},
|
| 854 |
+
"instruction_consistency": {
|
| 855 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 856 |
+
"observation": "左手拿起充电器、对准双插脚、插入、松开并撤回，终态充电器留在插座。",
|
| 857 |
+
"auxiliary_evidence": "最终 insertion_depth=0.02906001 m；原始 insertion_validation 的释放稳定性和双插脚孔位检查通过，但没有解决拇指指尖覆盖疑问。",
|
| 858 |
+
"progress_numeric": {
|
| 859 |
+
"observation.insertion_depth": {
|
| 860 |
+
"first": -0.1399996280670166,
|
| 861 |
+
"last": 0.029060013592243195,
|
| 862 |
+
"minimum": -0.14322543144226074,
|
| 863 |
+
"maximum": 0.03349514678120613,
|
| 864 |
+
"peak_frame": 2236
|
| 865 |
+
}
|
| 866 |
+
}
|
| 867 |
+
},
|
| 868 |
+
"sampling": {
|
| 869 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 870 |
+
"retimed_frame_indices": [
|
| 871 |
+
0,
|
| 872 |
+
178,
|
| 873 |
+
356,
|
| 874 |
+
534,
|
| 875 |
+
712,
|
| 876 |
+
834,
|
| 877 |
+
837,
|
| 878 |
+
838,
|
| 879 |
+
890,
|
| 880 |
+
1029,
|
| 881 |
+
1068,
|
| 882 |
+
1112,
|
| 883 |
+
1246,
|
| 884 |
+
1424,
|
| 885 |
+
1602,
|
| 886 |
+
1780,
|
| 887 |
+
1958,
|
| 888 |
+
2136,
|
| 889 |
+
2252,
|
| 890 |
+
2314,
|
| 891 |
+
2492,
|
| 892 |
+
2670
|
| 893 |
+
]
|
| 894 |
+
},
|
| 895 |
+
"evidence": [
|
| 896 |
+
{
|
| 897 |
+
"path": "signal_review/plug_charger/review_montage.png",
|
| 898 |
+
"sha256": "3a9279447fd05d503e0d2e63adb0a31ceecbe83d2e6acca25e085ccbd9ae21bd"
|
| 899 |
+
},
|
| 900 |
+
{
|
| 901 |
+
"path": "signal_review/plug_charger/signal_review.json",
|
| 902 |
+
"sha256": "651ebc7317db2a070c35ab52af412d58c25b9c93389d4c21c27931838f8bd4f4"
|
| 903 |
+
},
|
| 904 |
+
{
|
| 905 |
+
"path": "4d_recordings/plug_charger.review_sheet.jpg",
|
| 906 |
+
"sha256": "223836ff5336f3344cbc626c3e2794bfcc683fe6d50e23ac34705f6a800fa4b9"
|
| 907 |
+
},
|
| 908 |
+
{
|
| 909 |
+
"path": "4d_recordings/plug_charger.recording.json",
|
| 910 |
+
"sha256": "990eae80b0e43ff9e987ec1f0d14db4dd26f42f127207e8b5471ac76543a9480"
|
| 911 |
+
}
|
| 912 |
+
],
|
| 913 |
+
"warnings": [
|
| 914 |
+
{
|
| 915 |
+
"code": "active_hand_pressure_zero",
|
| 916 |
+
"severity": "coverage_note",
|
| 917 |
+
"hands": [
|
| 918 |
+
"left"
|
| 919 |
+
],
|
| 920 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 921 |
+
},
|
| 922 |
+
{
|
| 923 |
+
"code": "thumb_DIP_coverage",
|
| 924 |
+
"severity": "warning",
|
| 925 |
+
"frames": 8,
|
| 926 |
+
"detail": "动作完成和双插脚稳定性有源验证；拇指 DIP 接触覆盖不足以验证全程三指指尖夹持。"
|
| 927 |
+
}
|
| 928 |
+
]
|
| 929 |
+
},
|
| 930 |
+
{
|
| 931 |
+
"task": "pour_can",
|
| 932 |
+
"frames": 4653,
|
| 933 |
+
"instruction": "Grasp the can, pour its granular contents into the bowl, return the can to the table, release and withdraw.",
|
| 934 |
+
"review_status": "reviewed_with_warnings",
|
| 935 |
+
"sync": {
|
| 936 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 937 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 938 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 939 |
+
},
|
| 940 |
+
"contact_consistency": {
|
| 941 |
+
"assessment": "warning",
|
| 942 |
+
"observation": "右手光学触觉和压力在持罐期间变化，左手无接触；力峰值与压入深度不完全一致，需保留警告。"
|
| 943 |
+
},
|
| 944 |
+
"signal_health": {
|
| 945 |
+
"assessment": "warning",
|
| 946 |
+
"full_frame_checks": {
|
| 947 |
+
"left": {
|
| 948 |
+
"contact_frames_per_finger": [
|
| 949 |
+
0,
|
| 950 |
+
0,
|
| 951 |
+
0,
|
| 952 |
+
0,
|
| 953 |
+
0
|
| 954 |
+
],
|
| 955 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 956 |
+
"force_peak_N": 0.0,
|
| 957 |
+
"force_peak_retimed_frame": 0,
|
| 958 |
+
"force_peak_original_frame": 0,
|
| 959 |
+
"force_peak_finger": "thumb",
|
| 960 |
+
"force_frames_gt_100N": 0,
|
| 961 |
+
"force_peak_neighbors_N": [
|
| 962 |
+
0.0,
|
| 963 |
+
0.0,
|
| 964 |
+
0.0
|
| 965 |
+
],
|
| 966 |
+
"pressure_all_zero": true,
|
| 967 |
+
"pressure_peak_response": 0.0,
|
| 968 |
+
"pressure_nonnegative": true,
|
| 969 |
+
"finite_wrench_marker_pressure": true
|
| 970 |
+
},
|
| 971 |
+
"right": {
|
| 972 |
+
"contact_frames_per_finger": [
|
| 973 |
+
3707,
|
| 974 |
+
0,
|
| 975 |
+
3757,
|
| 976 |
+
3771,
|
| 977 |
+
3790
|
| 978 |
+
],
|
| 979 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 980 |
+
"force_peak_N": 416.24664306640625,
|
| 981 |
+
"force_peak_retimed_frame": 600,
|
| 982 |
+
"force_peak_original_frame": 600,
|
| 983 |
+
"force_peak_finger": "pinky",
|
| 984 |
+
"force_frames_gt_100N": 1,
|
| 985 |
+
"force_peak_neighbors_N": [
|
| 986 |
+
47.88862228393555,
|
| 987 |
+
38.98980712890625,
|
| 988 |
+
416.24664306640625,
|
| 989 |
+
0.0,
|
| 990 |
+
46.34372329711914
|
| 991 |
+
],
|
| 992 |
+
"pressure_all_zero": false,
|
| 993 |
+
"pressure_peak_response": 0.13444577157497406,
|
| 994 |
+
"pressure_nonnegative": true,
|
| 995 |
+
"finite_wrench_marker_pressure": true
|
| 996 |
+
}
|
| 997 |
+
},
|
| 998 |
+
"sampled_depth_peak_m": {
|
| 999 |
+
"left": [
|
| 1000 |
+
0.0,
|
| 1001 |
+
0.0,
|
| 1002 |
+
0.0,
|
| 1003 |
+
0.0,
|
| 1004 |
+
0.0
|
| 1005 |
+
],
|
| 1006 |
+
"right": [
|
| 1007 |
+
0.000799356319475919,
|
| 1008 |
+
0.0,
|
| 1009 |
+
0.0,
|
| 1010 |
+
0.0,
|
| 1011 |
+
4.626810550689697e-05
|
| 1012 |
+
]
|
| 1013 |
+
}
|
| 1014 |
+
},
|
| 1015 |
+
"instruction_consistency": {
|
| 1016 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 1017 |
+
"observation": "右手抓���、倾斜倒出颗粒到碗、放回罐子并松手撤回。",
|
| 1018 |
+
"auxiliary_evidence": "最大罐倾角 119.843°；采样画面看到碗中颗粒，但未独立逐粒计数。",
|
| 1019 |
+
"progress_numeric": {
|
| 1020 |
+
"observation.can_tilt_deg": {
|
| 1021 |
+
"first": 4.7902711230563e-05,
|
| 1022 |
+
"last": 4.785704004461877e-05,
|
| 1023 |
+
"minimum": 6.156649305921746e-06,
|
| 1024 |
+
"maximum": 119.843017578125,
|
| 1025 |
+
"peak_frame": 2551
|
| 1026 |
+
}
|
| 1027 |
+
}
|
| 1028 |
+
},
|
| 1029 |
+
"sampling": {
|
| 1030 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 1031 |
+
"retimed_frame_indices": [
|
| 1032 |
+
0,
|
| 1033 |
+
310,
|
| 1034 |
+
554,
|
| 1035 |
+
585,
|
| 1036 |
+
586,
|
| 1037 |
+
600,
|
| 1038 |
+
601,
|
| 1039 |
+
620,
|
| 1040 |
+
930,
|
| 1041 |
+
1240,
|
| 1042 |
+
1550,
|
| 1043 |
+
1860,
|
| 1044 |
+
2170,
|
| 1045 |
+
2481,
|
| 1046 |
+
2791,
|
| 1047 |
+
3101,
|
| 1048 |
+
3411,
|
| 1049 |
+
3721,
|
| 1050 |
+
4031,
|
| 1051 |
+
4341,
|
| 1052 |
+
4652
|
| 1053 |
+
]
|
| 1054 |
+
},
|
| 1055 |
+
"evidence": [
|
| 1056 |
+
{
|
| 1057 |
+
"path": "signal_review/pour_can/review_montage.png",
|
| 1058 |
+
"sha256": "284b03ad3e31e67387b46c77ab298897c90ae68814bbfd31bc63e9dd45623ae1"
|
| 1059 |
+
},
|
| 1060 |
+
{
|
| 1061 |
+
"path": "signal_review/pour_can/signal_review.json",
|
| 1062 |
+
"sha256": "64c7e68775c54fcb044b0c372614a4fb7160fd947469b785a10f88c5a0f62879"
|
| 1063 |
+
},
|
| 1064 |
+
{
|
| 1065 |
+
"path": "4d_recordings/pour_can.review_sheet.jpg",
|
| 1066 |
+
"sha256": "14688e605b7f044fde86e7a074f9e47d9579b1726f1b547b28e2b1873d1da155"
|
| 1067 |
+
},
|
| 1068 |
+
{
|
| 1069 |
+
"path": "4d_recordings/pour_can.recording.json",
|
| 1070 |
+
"sha256": "ca17f3a97aedc1f15c1ed039442f5dfe298802ed6c234acdd15526278138df25"
|
| 1071 |
+
}
|
| 1072 |
+
],
|
| 1073 |
+
"warnings": [
|
| 1074 |
+
{
|
| 1075 |
+
"code": "isolated_force_peak",
|
| 1076 |
+
"severity": "warning",
|
| 1077 |
+
"retimed_frame": 600,
|
| 1078 |
+
"original_frame": 600,
|
| 1079 |
+
"force_N": 416.24664306640625,
|
| 1080 |
+
"finger": "right_pinky",
|
| 1081 |
+
"detail": "单帧峰值远高于邻帧约 40–50 N；该时刻采样光学深度为零。保留原值，不裁剪、平滑或声称信号健康。需检查求解器/接触模型或附说明。"
|
| 1082 |
+
}
|
| 1083 |
+
]
|
| 1084 |
+
},
|
| 1085 |
+
{
|
| 1086 |
+
"task": "power_drill",
|
| 1087 |
+
"frames": 2866,
|
| 1088 |
+
"instruction": "Grasp the power drill, align its chuck vertically above the board, hold, return it upright to the table, release and withdraw.",
|
| 1089 |
+
"review_status": "reviewed_with_limitations",
|
| 1090 |
+
"sync": {
|
| 1091 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 1092 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 1093 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 1094 |
+
},
|
| 1095 |
+
"contact_consistency": {
|
| 1096 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 1097 |
+
"observation": "左手持握期间触觉有响应，放下释放后回落；右手无接触。"
|
| 1098 |
+
},
|
| 1099 |
+
"signal_health": {
|
| 1100 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 1101 |
+
"full_frame_checks": {
|
| 1102 |
+
"left": {
|
| 1103 |
+
"contact_frames_per_finger": [
|
| 1104 |
+
2321,
|
| 1105 |
+
2135,
|
| 1106 |
+
2236,
|
| 1107 |
+
2156,
|
| 1108 |
+
2372
|
| 1109 |
+
],
|
| 1110 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 1111 |
+
"force_peak_N": 6.9494099617004395,
|
| 1112 |
+
"force_peak_retimed_frame": 408,
|
| 1113 |
+
"force_peak_original_frame": 488,
|
| 1114 |
+
"force_peak_finger": "pinky",
|
| 1115 |
+
"force_frames_gt_100N": 0,
|
| 1116 |
+
"force_peak_neighbors_N": [
|
| 1117 |
+
5.768026351928711,
|
| 1118 |
+
6.823105812072754,
|
| 1119 |
+
6.9494099617004395,
|
| 1120 |
+
6.723233699798584,
|
| 1121 |
+
5.406896114349365
|
| 1122 |
+
],
|
| 1123 |
+
"pressure_all_zero": true,
|
| 1124 |
+
"pressure_peak_response": 0.0,
|
| 1125 |
+
"pressure_nonnegative": true,
|
| 1126 |
+
"finite_wrench_marker_pressure": true
|
| 1127 |
+
},
|
| 1128 |
+
"right": {
|
| 1129 |
+
"contact_frames_per_finger": [
|
| 1130 |
+
0,
|
| 1131 |
+
0,
|
| 1132 |
+
0,
|
| 1133 |
+
0,
|
| 1134 |
+
0
|
| 1135 |
+
],
|
| 1136 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 1137 |
+
"force_peak_N": 0.0,
|
| 1138 |
+
"force_peak_retimed_frame": 0,
|
| 1139 |
+
"force_peak_original_frame": 0,
|
| 1140 |
+
"force_peak_finger": "thumb",
|
| 1141 |
+
"force_frames_gt_100N": 0,
|
| 1142 |
+
"force_peak_neighbors_N": [
|
| 1143 |
+
0.0,
|
| 1144 |
+
0.0,
|
| 1145 |
+
0.0
|
| 1146 |
+
],
|
| 1147 |
+
"pressure_all_zero": true,
|
| 1148 |
+
"pressure_peak_response": 0.0,
|
| 1149 |
+
"pressure_nonnegative": true,
|
| 1150 |
+
"finite_wrench_marker_pressure": true
|
| 1151 |
+
}
|
| 1152 |
+
},
|
| 1153 |
+
"sampled_depth_peak_m": {
|
| 1154 |
+
"left": [
|
| 1155 |
+
0.0007601277902722359,
|
| 1156 |
+
0.0010298071429133415,
|
| 1157 |
+
0.0,
|
| 1158 |
+
0.00012343283742666245,
|
| 1159 |
+
0.0025220545940101147
|
| 1160 |
+
],
|
| 1161 |
+
"right": [
|
| 1162 |
+
0.0,
|
| 1163 |
+
0.0,
|
| 1164 |
+
0.0,
|
| 1165 |
+
0.0,
|
| 1166 |
+
0.0
|
| 1167 |
+
]
|
| 1168 |
+
}
|
| 1169 |
+
},
|
| 1170 |
+
"instruction_consistency": {
|
| 1171 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 1172 |
+
"observation": "左手拿起电钻、把夹头垂直对准板面上方，随后放回桌面并松手。",
|
| 1173 |
+
"auxiliary_evidence": "最小 alignment_error=0.00134280；指令要求对准，不要求实际钻孔，最后放回时误差变大不算对准阶段失败。",
|
| 1174 |
+
"progress_numeric": {
|
| 1175 |
+
"observation.alignment_error": {
|
| 1176 |
+
"first": 0.34241315722465515,
|
| 1177 |
+
"last": 0.3245687484741211,
|
| 1178 |
+
"minimum": 0.0013428006786853075,
|
| 1179 |
+
"maximum": 0.34858763217926025,
|
| 1180 |
+
"peak_frame": 475
|
| 1181 |
+
}
|
| 1182 |
+
}
|
| 1183 |
+
},
|
| 1184 |
+
"sampling": {
|
| 1185 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 1186 |
+
"retimed_frame_indices": [
|
| 1187 |
+
0,
|
| 1188 |
+
191,
|
| 1189 |
+
382,
|
| 1190 |
+
476,
|
| 1191 |
+
480,
|
| 1192 |
+
497,
|
| 1193 |
+
565,
|
| 1194 |
+
573,
|
| 1195 |
+
650,
|
| 1196 |
+
764,
|
| 1197 |
+
955,
|
| 1198 |
+
1146,
|
| 1199 |
+
1337,
|
| 1200 |
+
1528,
|
| 1201 |
+
1719,
|
| 1202 |
+
1910,
|
| 1203 |
+
2101,
|
| 1204 |
+
2107,
|
| 1205 |
+
2292,
|
| 1206 |
+
2483,
|
| 1207 |
+
2674,
|
| 1208 |
+
2865
|
| 1209 |
+
]
|
| 1210 |
+
},
|
| 1211 |
+
"evidence": [
|
| 1212 |
+
{
|
| 1213 |
+
"path": "signal_review/power_drill/review_montage.png",
|
| 1214 |
+
"sha256": "74a573eba682233837a8bbab8921ecdb62c1a0498cf38d7c0bf8d85922f31719"
|
| 1215 |
+
},
|
| 1216 |
+
{
|
| 1217 |
+
"path": "signal_review/power_drill/signal_review.json",
|
| 1218 |
+
"sha256": "de0f39f980f03c61f67b4711de35e3bc195e5510c0e23c3c54c8541c7ada676f"
|
| 1219 |
+
},
|
| 1220 |
+
{
|
| 1221 |
+
"path": "4d_recordings/power_drill.review_sheet.jpg",
|
| 1222 |
+
"sha256": "d3bda89aa34b73c44c297bb1165a52aeff3697fede563f8fd5644156761ddbf7"
|
| 1223 |
+
},
|
| 1224 |
+
{
|
| 1225 |
+
"path": "4d_recordings/power_drill.recording.json",
|
| 1226 |
+
"sha256": "ab5312fd83dd18be21cf29cfe2978a2f93f5827a807dc4fa36056f6cf66086a1"
|
| 1227 |
+
}
|
| 1228 |
+
],
|
| 1229 |
+
"warnings": [
|
| 1230 |
+
{
|
| 1231 |
+
"code": "active_hand_pressure_zero",
|
| 1232 |
+
"severity": "coverage_note",
|
| 1233 |
+
"hands": [
|
| 1234 |
+
"left"
|
| 1235 |
+
],
|
| 1236 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 1237 |
+
}
|
| 1238 |
+
]
|
| 1239 |
+
},
|
| 1240 |
+
{
|
| 1241 |
+
"task": "rotate_knob",
|
| 1242 |
+
"frames": 2459,
|
| 1243 |
+
"instruction": "Grasp the knob with the left hand, turn upward approximately 35 degrees, release and withdraw.",
|
| 1244 |
+
"review_status": "reviewed_with_warnings",
|
| 1245 |
+
"sync": {
|
| 1246 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 1247 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 1248 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 1249 |
+
},
|
| 1250 |
+
"contact_consistency": {
|
| 1251 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 1252 |
+
"observation": "左手转动期间有触觉响应，右手无接触。"
|
| 1253 |
+
},
|
| 1254 |
+
"signal_health": {
|
| 1255 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 1256 |
+
"full_frame_checks": {
|
| 1257 |
+
"left": {
|
| 1258 |
+
"contact_frames_per_finger": [
|
| 1259 |
+
1030,
|
| 1260 |
+
1225,
|
| 1261 |
+
1085,
|
| 1262 |
+
1146,
|
| 1263 |
+
1189
|
| 1264 |
+
],
|
| 1265 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 1266 |
+
"force_peak_N": 5.132035732269287,
|
| 1267 |
+
"force_peak_retimed_frame": 1448,
|
| 1268 |
+
"force_peak_original_frame": 1448,
|
| 1269 |
+
"force_peak_finger": "ring",
|
| 1270 |
+
"force_frames_gt_100N": 0,
|
| 1271 |
+
"force_peak_neighbors_N": [
|
| 1272 |
+
3.6580851078033447,
|
| 1273 |
+
4.032366752624512,
|
| 1274 |
+
5.132035732269287,
|
| 1275 |
+
4.170233249664307,
|
| 1276 |
+
4.468057632446289
|
| 1277 |
+
],
|
| 1278 |
+
"pressure_all_zero": true,
|
| 1279 |
+
"pressure_peak_response": 0.0,
|
| 1280 |
+
"pressure_nonnegative": true,
|
| 1281 |
+
"finite_wrench_marker_pressure": true
|
| 1282 |
+
},
|
| 1283 |
+
"right": {
|
| 1284 |
+
"contact_frames_per_finger": [
|
| 1285 |
+
0,
|
| 1286 |
+
0,
|
| 1287 |
+
0,
|
| 1288 |
+
0,
|
| 1289 |
+
0
|
| 1290 |
+
],
|
| 1291 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 1292 |
+
"force_peak_N": 0.0,
|
| 1293 |
+
"force_peak_retimed_frame": 0,
|
| 1294 |
+
"force_peak_original_frame": 0,
|
| 1295 |
+
"force_peak_finger": "thumb",
|
| 1296 |
+
"force_frames_gt_100N": 0,
|
| 1297 |
+
"force_peak_neighbors_N": [
|
| 1298 |
+
0.0,
|
| 1299 |
+
0.0,
|
| 1300 |
+
0.0
|
| 1301 |
+
],
|
| 1302 |
+
"pressure_all_zero": true,
|
| 1303 |
+
"pressure_peak_response": 0.0,
|
| 1304 |
+
"pressure_nonnegative": true,
|
| 1305 |
+
"finite_wrench_marker_pressure": true
|
| 1306 |
+
}
|
| 1307 |
+
},
|
| 1308 |
+
"sampled_depth_peak_m": {
|
| 1309 |
+
"left": [
|
| 1310 |
+
5.778111517429352e-05,
|
| 1311 |
+
0.0,
|
| 1312 |
+
0.0009075924754142761,
|
| 1313 |
+
0.002457796595990658,
|
| 1314 |
+
0.0
|
| 1315 |
+
],
|
| 1316 |
+
"right": [
|
| 1317 |
+
0.0,
|
| 1318 |
+
0.0,
|
| 1319 |
+
0.0,
|
| 1320 |
+
0.0,
|
| 1321 |
+
0.0
|
| 1322 |
+
]
|
| 1323 |
+
}
|
| 1324 |
+
},
|
| 1325 |
+
"instruction_consistency": {
|
| 1326 |
+
"assessment": "qualified_peak_goal",
|
| 1327 |
+
"observation": "左手抓住旋钮、向上转动、松开并撤回。",
|
| 1328 |
+
"auxiliary_evidence": "最大角度 0.59616238 rad（34.16°），末帧约 0°。满足曾转到约 35°的解释，不能称终态保持 35°；若验收要求保持则需重新确认。",
|
| 1329 |
+
"progress_numeric": {
|
| 1330 |
+
"observation.knob_angle": {
|
| 1331 |
+
"first": 0.0,
|
| 1332 |
+
"last": 2.2130212528281845e-05,
|
| 1333 |
+
"minimum": -0.010987844318151474,
|
| 1334 |
+
"maximum": 0.5961623787879944,
|
| 1335 |
+
"peak_frame": 1972
|
| 1336 |
+
}
|
| 1337 |
+
}
|
| 1338 |
+
},
|
| 1339 |
+
"sampling": {
|
| 1340 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 1341 |
+
"retimed_frame_indices": [
|
| 1342 |
+
0,
|
| 1343 |
+
163,
|
| 1344 |
+
327,
|
| 1345 |
+
491,
|
| 1346 |
+
655,
|
| 1347 |
+
819,
|
| 1348 |
+
983,
|
| 1349 |
+
1147,
|
| 1350 |
+
1310,
|
| 1351 |
+
1428,
|
| 1352 |
+
1448,
|
| 1353 |
+
1474,
|
| 1354 |
+
1535,
|
| 1355 |
+
1638,
|
| 1356 |
+
1802,
|
| 1357 |
+
1908,
|
| 1358 |
+
1966,
|
| 1359 |
+
1973,
|
| 1360 |
+
1997,
|
| 1361 |
+
2130,
|
| 1362 |
+
2294,
|
| 1363 |
+
2458
|
| 1364 |
+
]
|
| 1365 |
+
},
|
| 1366 |
+
"evidence": [
|
| 1367 |
+
{
|
| 1368 |
+
"path": "signal_review/rotate_knob/review_montage.png",
|
| 1369 |
+
"sha256": "bd768aa6203b14deba7a8db9f6ce1194fafeac79d1129646565a2e3765c5269d"
|
| 1370 |
+
},
|
| 1371 |
+
{
|
| 1372 |
+
"path": "signal_review/rotate_knob/signal_review.json",
|
| 1373 |
+
"sha256": "0854e0027545c2c312a38108f3994437be4015a183b26b9e3e14dc0e631eae7c"
|
| 1374 |
+
},
|
| 1375 |
+
{
|
| 1376 |
+
"path": "4d_recordings/rotate_knob.review_sheet.jpg",
|
| 1377 |
+
"sha256": "c1d11af608127c9ac50cf1d8fd27e206330d4a3b0e95a34f020b7a24e4469562"
|
| 1378 |
+
},
|
| 1379 |
+
{
|
| 1380 |
+
"path": "4d_recordings/rotate_knob.recording.json",
|
| 1381 |
+
"sha256": "81d7f15de0f19ee11f8c3719e5d2fad992e7d0e970ce412ddd850984118b6999"
|
| 1382 |
+
}
|
| 1383 |
+
],
|
| 1384 |
+
"warnings": [
|
| 1385 |
+
{
|
| 1386 |
+
"code": "active_hand_pressure_zero",
|
| 1387 |
+
"severity": "coverage_note",
|
| 1388 |
+
"hands": [
|
| 1389 |
+
"left"
|
| 1390 |
+
],
|
| 1391 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 1392 |
+
},
|
| 1393 |
+
{
|
| 1394 |
+
"code": "peak_vs_terminal_angle",
|
| 1395 |
+
"severity": "warning",
|
| 1396 |
+
"detail": "最大角度 0.59616238 rad（34.16°），末帧约 0°。满足曾转到约 35°的解释，不能称终态保持 35°；若验收要求保持则需重新确认。"
|
| 1397 |
+
}
|
| 1398 |
+
]
|
| 1399 |
+
},
|
| 1400 |
+
{
|
| 1401 |
+
"task": "tray_carry",
|
| 1402 |
+
"frames": 1591,
|
| 1403 |
+
"instruction": "Lift the food tray with both hands, hold it level, then put it back on the table and release it.",
|
| 1404 |
+
"review_status": "reviewed_with_limitations",
|
| 1405 |
+
"sync": {
|
| 1406 |
+
"assessment": "no_gross_mismatch_observed_in_sampled_evidence",
|
| 1407 |
+
"evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。",
|
| 1408 |
+
"limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。"
|
| 1409 |
+
},
|
| 1410 |
+
"contact_consistency": {
|
| 1411 |
+
"assessment": "plausible_in_reviewed_evidence",
|
| 1412 |
+
"observation": "双手光学触觉在托举阶段均响应，放回后回落；没有发现左右手互换。"
|
| 1413 |
+
},
|
| 1414 |
+
"signal_health": {
|
| 1415 |
+
"assessment": "reviewed_with_coverage_limits",
|
| 1416 |
+
"full_frame_checks": {
|
| 1417 |
+
"left": {
|
| 1418 |
+
"contact_frames_per_finger": [
|
| 1419 |
+
693,
|
| 1420 |
+
986,
|
| 1421 |
+
988,
|
| 1422 |
+
989,
|
| 1423 |
+
846
|
| 1424 |
+
],
|
| 1425 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 1426 |
+
"force_peak_N": 7.750674247741699,
|
| 1427 |
+
"force_peak_retimed_frame": 1480,
|
| 1428 |
+
"force_peak_original_frame": 1530,
|
| 1429 |
+
"force_peak_finger": "ring",
|
| 1430 |
+
"force_frames_gt_100N": 0,
|
| 1431 |
+
"force_peak_neighbors_N": [
|
| 1432 |
+
2.2729578018188477,
|
| 1433 |
+
4.111724376678467,
|
| 1434 |
+
7.750674247741699,
|
| 1435 |
+
2.534925937652588,
|
| 1436 |
+
0.8822319507598877
|
| 1437 |
+
],
|
| 1438 |
+
"pressure_all_zero": true,
|
| 1439 |
+
"pressure_peak_response": 0.0,
|
| 1440 |
+
"pressure_nonnegative": true,
|
| 1441 |
+
"finite_wrench_marker_pressure": true
|
| 1442 |
+
},
|
| 1443 |
+
"right": {
|
| 1444 |
+
"contact_frames_per_finger": [
|
| 1445 |
+
693,
|
| 1446 |
+
951,
|
| 1447 |
+
959,
|
| 1448 |
+
947,
|
| 1449 |
+
789
|
| 1450 |
+
],
|
| 1451 |
+
"noncontact_force_gt_1mN_frames": 0,
|
| 1452 |
+
"force_peak_N": 7.334367752075195,
|
| 1453 |
+
"force_peak_retimed_frame": 509,
|
| 1454 |
+
"force_peak_original_frame": 509,
|
| 1455 |
+
"force_peak_finger": "middle",
|
| 1456 |
+
"force_frames_gt_100N": 0,
|
| 1457 |
+
"force_peak_neighbors_N": [
|
| 1458 |
+
0.0,
|
| 1459 |
+
0.0,
|
| 1460 |
+
7.334367752075195,
|
| 1461 |
+
4.215703010559082,
|
| 1462 |
+
1.03274667263031
|
| 1463 |
+
],
|
| 1464 |
+
"pressure_all_zero": true,
|
| 1465 |
+
"pressure_peak_response": 0.0,
|
| 1466 |
+
"pressure_nonnegative": true,
|
| 1467 |
+
"finite_wrench_marker_pressure": true
|
| 1468 |
+
}
|
| 1469 |
+
},
|
| 1470 |
+
"sampled_depth_peak_m": {
|
| 1471 |
+
"left": [
|
| 1472 |
+
0.002705005928874016,
|
| 1473 |
+
0.0029127486050128937,
|
| 1474 |
+
0.0027836887165904045,
|
| 1475 |
+
0.002403341233730316,
|
| 1476 |
+
0.002683281898498535
|
| 1477 |
+
],
|
| 1478 |
+
"right": [
|
| 1479 |
+
0.002364237792789936,
|
| 1480 |
+
0.0028113964945077896,
|
| 1481 |
+
0.0025008153170347214,
|
| 1482 |
+
0.002669968642294407,
|
| 1483 |
+
0.0009592156857252121
|
| 1484 |
+
]
|
| 1485 |
+
}
|
| 1486 |
+
},
|
| 1487 |
+
"instruction_consistency": {
|
| 1488 |
+
"assessment": "supported_by_sampled_scene_and_source_checks",
|
| 1489 |
+
"observation": "双手托起托盘、保持水平，再放回桌面并释放。",
|
| 1490 |
+
"auxiliary_evidence": "原始采集验证作为辅助证据；剪辑后的时间线没有重新进行动力学仿真。",
|
| 1491 |
+
"progress_numeric": {}
|
| 1492 |
+
},
|
| 1493 |
+
"sampling": {
|
| 1494 |
+
"method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.",
|
| 1495 |
+
"retimed_frame_indices": [
|
| 1496 |
+
0,
|
| 1497 |
+
106,
|
| 1498 |
+
212,
|
| 1499 |
+
318,
|
| 1500 |
+
424,
|
| 1501 |
+
509,
|
| 1502 |
+
530,
|
| 1503 |
+
636,
|
| 1504 |
+
742,
|
| 1505 |
+
848,
|
| 1506 |
+
954,
|
| 1507 |
+
1060,
|
| 1508 |
+
1166,
|
| 1509 |
+
1196,
|
| 1510 |
+
1197,
|
| 1511 |
+
1272,
|
| 1512 |
+
1378,
|
| 1513 |
+
1461,
|
| 1514 |
+
1481,
|
| 1515 |
+
1484,
|
| 1516 |
+
1590
|
| 1517 |
+
]
|
| 1518 |
+
},
|
| 1519 |
+
"evidence": [
|
| 1520 |
+
{
|
| 1521 |
+
"path": "signal_review/tray_carry/review_montage.png",
|
| 1522 |
+
"sha256": "b31da8bfd2dbd74031180b881d4b0824b4039e4465244ff02e3c33c37c940144"
|
| 1523 |
+
},
|
| 1524 |
+
{
|
| 1525 |
+
"path": "signal_review/tray_carry/signal_review.json",
|
| 1526 |
+
"sha256": "932477d10175d6e0854399d28ec7c882b2804f8af7cb424bb2583330492744f2"
|
| 1527 |
+
},
|
| 1528 |
+
{
|
| 1529 |
+
"path": "4d_recordings/tray_carry.review_sheet.jpg",
|
| 1530 |
+
"sha256": "433302f4f9a501a2dc3dacdc0b8eabd249ffe25d6de91792f3e8862802ed0219"
|
| 1531 |
+
},
|
| 1532 |
+
{
|
| 1533 |
+
"path": "4d_recordings/tray_carry.recording.json",
|
| 1534 |
+
"sha256": "afbaba415f3f1d7d302d5f83534e10fa3316a8502975a650e66c4bacfe42d1ee"
|
| 1535 |
+
}
|
| 1536 |
+
],
|
| 1537 |
+
"warnings": [
|
| 1538 |
+
{
|
| 1539 |
+
"code": "active_hand_pressure_zero",
|
| 1540 |
+
"severity": "coverage_note",
|
| 1541 |
+
"hands": [
|
| 1542 |
+
"left",
|
| 1543 |
+
"right"
|
| 1544 |
+
],
|
| 1545 |
+
"detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。"
|
| 1546 |
+
}
|
| 1547 |
+
]
|
| 1548 |
+
}
|
| 1549 |
+
]
|
| 1550 |
+
}
|
qc/agent_semantic_review_result.json
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"review_type": "agent_semantic_review",
|
| 3 |
+
"official_external_vlm_result": false,
|
| 4 |
+
"tasks_reviewed": 10,
|
| 5 |
+
"full_numeric_frames": 32272,
|
| 6 |
+
"status": "completed_with_warnings",
|
| 7 |
+
"warning_tasks": [
|
| 8 |
+
"plug_charger",
|
| 9 |
+
"pour_can",
|
| 10 |
+
"rotate_knob"
|
| 11 |
+
],
|
| 12 |
+
"active_hand_zero_pressure_tasks": [
|
| 13 |
+
"hammer",
|
| 14 |
+
"insert_peg",
|
| 15 |
+
"insert_pipette",
|
| 16 |
+
"kitchen",
|
| 17 |
+
"plug_charger",
|
| 18 |
+
"power_drill",
|
| 19 |
+
"rotate_knob",
|
| 20 |
+
"tray_carry"
|
| 21 |
+
],
|
| 22 |
+
"requires_external_acceptance": "Organizer must decide whether agent review satisfies their VLM requirement; no submission performed."
|
| 23 |
+
}
|
qc/full_frame_numeric_checks.json
ADDED
|
@@ -0,0 +1,951 @@
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|
| 1 |
+
{
|
| 2 |
+
"frames": 32272,
|
| 3 |
+
"tasks": 10,
|
| 4 |
+
"all_pose_frames_equal_to_validated_source": true,
|
| 5 |
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"no_physics_rerun": true,
|
| 6 |
+
"results": [
|
| 7 |
+
{
|
| 8 |
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"task": "cup_hang",
|
| 9 |
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"frames": 4178,
|
| 10 |
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"instruction": "Pick up the cup and hang it securely on the rack branch, then release it and withdraw the hand.",
|
| 11 |
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"timestamps_contiguous_60hz": true,
|
| 12 |
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"source_frame_indices_strictly_increasing": true,
|
| 13 |
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"poses": {
|
| 14 |
+
"camera_ego_pose": {
|
| 15 |
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"all_frames_equal_to_previously_validated_FK_source": true,
|
| 16 |
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"finite": true,
|
| 17 |
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"max_abs_rotation_determinant_error": 2.220446049250313e-16,
|
| 18 |
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|
| 19 |
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},
|
| 20 |
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"left_wrist_pose": {
|
| 21 |
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"all_frames_equal_to_previously_validated_FK_source": true,
|
| 22 |
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"finite": true,
|
| 23 |
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"max_abs_rotation_determinant_error": 1.1102230246251565e-16,
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| 24 |
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|
| 25 |
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},
|
| 26 |
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|
| 27 |
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|
| 28 |
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"finite": true,
|
| 29 |
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"max_abs_rotation_determinant_error": 1.7763568394002505e-15,
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| 30 |
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| 31 |
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}
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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0,
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| 37 |
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0,
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| 38 |
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0,
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| 39 |
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0,
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| 40 |
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0
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| 41 |
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],
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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0.0,
|
| 50 |
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0.0,
|
| 51 |
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0.0
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| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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},
|
| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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],
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| 67 |
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| 68 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 75 |
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| 76 |
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| 77 |
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| 80 |
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|
| 81 |
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| 82 |
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|
| 83 |
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}
|
| 84 |
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},
|
| 85 |
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"progress": {},
|
| 86 |
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| 87 |
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{
|
| 88 |
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"file": "QC_OUTPUT/reference/physical/cup_hang_report.json",
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| 89 |
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"source": "SOURCE_REPOSITORY/outputs/lerobot_four_raw_v1/cup_dataset/report.json",
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| 90 |
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"sha256": "c7978543ab1a47fb25e1e012249446bc013347243dba95ac755540fbaaea9edc",
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| 92 |
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| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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}
|
| 97 |
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],
|
| 98 |
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|
| 99 |
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"physical_success_scope": "Original recorded execution only; not a rerun of edited timing or a statistical success rate."
|
| 100 |
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},
|
| 101 |
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{
|
| 102 |
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"task": "hammer",
|
| 103 |
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"frames": 1856,
|
| 104 |
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"instruction": "Pick up the hammer and use it to drive the nail into the board.",
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| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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},
|
| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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},
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 126 |
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| 127 |
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| 129 |
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0,
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| 131 |
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0,
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| 132 |
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0,
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| 133 |
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| 134 |
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0
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| 135 |
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],
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| 137 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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0.0,
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| 144 |
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0.0,
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| 145 |
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0.0
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| 146 |
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],
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| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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| 151 |
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},
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| 152 |
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| 154 |
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| 156 |
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|
| 157 |
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0,
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| 158 |
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| 159 |
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| 162 |
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| 170 |
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],
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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}
|
| 178 |
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},
|
| 179 |
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| 180 |
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|
| 181 |
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{
|
| 182 |
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"file": "QC_OUTPUT/reference/physical/hammer_report.json",
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| 183 |
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"source": "SOURCE_REPOSITORY/outputs/lerobot_four_raw_v1/hammer/report.json",
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| 184 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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},
|
| 191 |
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{
|
| 192 |
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"file": "QC_OUTPUT/reference/physical/hammer_validation.json",
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| 193 |
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"source": "SOURCE_REPOSITORY/outputs/lerobot_four_raw_v1/hammer/validation.json",
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| 194 |
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"sha256": "21aa18b283da313413a41c562404afba333db4fa6c8281cb0fbbba7b43000994",
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| 195 |
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| 197 |
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| 198 |
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| 200 |
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}
|
| 201 |
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],
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| 202 |
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|
| 203 |
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| 204 |
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},
|
| 205 |
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{
|
| 206 |
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"task": "insert_peg",
|
| 207 |
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"frames": 3406,
|
| 208 |
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"instruction": "Pick up the peg with the left thumb, index and middle fingers, insert it into the hole, release and withdraw.",
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| 209 |
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|
| 210 |
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| 211 |
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| 212 |
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| 213 |
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|
| 214 |
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"finite": true,
|
| 215 |
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| 216 |
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| 217 |
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},
|
| 218 |
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|
| 219 |
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|
| 220 |
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"finite": true,
|
| 221 |
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| 223 |
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},
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| 224 |
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| 225 |
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| 226 |
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"finite": true,
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| 227 |
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}
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| 230 |
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},
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| 231 |
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| 233 |
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| 234 |
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2061,
|
| 237 |
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0,
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0
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],
|
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| 242 |
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|
| 245 |
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| 246 |
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],
|
| 253 |
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"pressure_all_zero": true,
|
| 254 |
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|
| 255 |
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"pressure_nonnegative": true,
|
| 256 |
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|
| 257 |
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},
|
| 258 |
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"right": {
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| 259 |
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| 260 |
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0,
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| 261 |
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0,
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| 262 |
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0,
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| 263 |
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0,
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| 264 |
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0
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| 265 |
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],
|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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"force_peak_finger": "thumb",
|
| 271 |
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|
| 272 |
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"force_peak_neighbors_N": [
|
| 273 |
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0.0,
|
| 274 |
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0.0,
|
| 275 |
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0.0
|
| 276 |
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],
|
| 277 |
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"pressure_all_zero": true,
|
| 278 |
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|
| 279 |
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"pressure_nonnegative": true,
|
| 280 |
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"finite_wrench_marker_pressure": true
|
| 281 |
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}
|
| 282 |
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},
|
| 283 |
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"progress": {
|
| 284 |
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|
| 285 |
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"first": 1.178782227384545e-07,
|
| 286 |
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"last": 0.07708171010017395,
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"minimum": -0.04022303968667984,
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"maximum": 0.079926036298275,
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| 290 |
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}
|
| 291 |
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},
|
| 292 |
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"original_collection_physical_success": true,
|
| 293 |
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"physical_success_scope": "Original recorded execution only; not a rerun of edited timing or a statistical success rate."
|
| 294 |
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},
|
| 295 |
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{
|
| 296 |
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"task": "insert_pipette",
|
| 297 |
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"frames": 2937,
|
| 298 |
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"instruction": "Grasp the black handle of the pipette with three left fingers, turn its tip downward and insert it 5 cm into the container while maintaining the grasp.",
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| 299 |
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"timestamps_contiguous_60hz": true,
|
| 300 |
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"source_frame_indices_strictly_increasing": true,
|
| 301 |
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"poses": {
|
| 302 |
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"camera_ego_pose": {
|
| 303 |
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"all_frames_equal_to_previously_validated_FK_source": true,
|
| 304 |
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"finite": true,
|
| 305 |
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"max_abs_rotation_determinant_error": 4.440892098500626e-16,
|
| 306 |
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|
| 307 |
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},
|
| 308 |
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"left_wrist_pose": {
|
| 309 |
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"all_frames_equal_to_previously_validated_FK_source": true,
|
| 310 |
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"finite": true,
|
| 311 |
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"max_abs_rotation_determinant_error": 1.4432899320127035e-15,
|
| 312 |
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"max_translation_step_m": 0.0024107085223374304
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| 313 |
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},
|
| 314 |
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"right_wrist_pose": {
|
| 315 |
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"all_frames_equal_to_previously_validated_FK_source": true,
|
| 316 |
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"finite": true,
|
| 317 |
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"max_abs_rotation_determinant_error": 7.771561172376096e-16,
|
| 318 |
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"max_translation_step_m": 0.0
|
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0,
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0
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0,
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0,
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0
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0.0
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},
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{
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| 387 |
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0,
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0,
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},
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0,
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}
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},
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| 465 |
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{
|
| 466 |
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"file": "QC_OUTPUT/reference/physical/kitchen_report.json",
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"source": "SOURCE_REPOSITORY/outputs/lerobot_four_raw_v1/kitchen/report.json",
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| 473 |
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{
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},
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{
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| 483 |
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},
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| 486 |
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{
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| 487 |
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| 489 |
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}
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| 490 |
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]
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| 491 |
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},
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| 492 |
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{
|
| 493 |
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"file": "QC_OUTPUT/reference/physical/kitchen_validation.json",
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| 494 |
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}
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| 502 |
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],
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| 505 |
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},
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| 506 |
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{
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| 507 |
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| 508 |
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| 509 |
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"instruction": "Pick up the charger with the left thumb, index and middle fingers, align both prongs with the receptacle, insert, release and withdraw.",
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},
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}
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},
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| 595 |
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},
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{
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"instruction": "Grasp the can, pour its granular contents into the bowl, return the can to the table, release and withdraw.",
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},
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},
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0,
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},
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}
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| 673 |
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},
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},
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| 683 |
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|
| 684 |
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|
| 685 |
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},
|
| 686 |
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{
|
| 687 |
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"task": "power_drill",
|
| 688 |
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|
| 689 |
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"instruction": "Grasp the power drill, align its chuck vertically above the board, hold, return it upright to the table, release and withdraw.",
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| 690 |
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|
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| 949 |
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| 950 |
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| 951 |
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}
|
qc/media_validation.json
ADDED
|
@@ -0,0 +1,112 @@
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"videos": [
|
| 3 |
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{
|
| 4 |
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"task": "cup_hang",
|
| 5 |
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"video": "4d_recordings/cup_hang_4d_viser_check.mp4",
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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},
|
| 13 |
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{
|
| 14 |
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"task": "hammer",
|
| 15 |
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"video": "4d_recordings/hammer_4d_viser_check.mp4",
|
| 16 |
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"frames": 40,
|
| 17 |
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"fps": 4,
|
| 18 |
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|
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| 21 |
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| 22 |
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},
|
| 23 |
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{
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| 24 |
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|
| 25 |
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"video": "4d_recordings/insert_peg_4d_viser_check.mp4",
|
| 26 |
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"frames": 40,
|
| 27 |
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|
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| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"task": "insert_pipette",
|
| 35 |
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"video": "4d_recordings/insert_pipette_4d_viser_check.mp4",
|
| 36 |
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|
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|
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| 42 |
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},
|
| 43 |
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{
|
| 44 |
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"task": "kitchen",
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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| 51 |
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|
| 52 |
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},
|
| 53 |
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{
|
| 54 |
+
"task": "plug_charger",
|
| 55 |
+
"video": "4d_recordings/plug_charger_4d_viser_check.mp4",
|
| 56 |
+
"frames": 40,
|
| 57 |
+
"fps": 4,
|
| 58 |
+
"duration_seconds": 10,
|
| 59 |
+
"unique_decoded_frames": 40,
|
| 60 |
+
"sha256": "a83d3fd294ace2e2bbee3a0492bfd41131feb445489c7a85097442c76386a797",
|
| 61 |
+
"endpoint_mapping_verified": true
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"task": "pour_can",
|
| 65 |
+
"video": "4d_recordings/pour_can_4d_viser_check.mp4",
|
| 66 |
+
"frames": 40,
|
| 67 |
+
"fps": 4,
|
| 68 |
+
"duration_seconds": 10,
|
| 69 |
+
"unique_decoded_frames": 40,
|
| 70 |
+
"sha256": "827cdf74e4640e1d5ca201d6c15c561b62e3e60df27b32fd4cbaa07289c88454",
|
| 71 |
+
"endpoint_mapping_verified": true
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"task": "power_drill",
|
| 75 |
+
"video": "4d_recordings/power_drill_4d_viser_check.mp4",
|
| 76 |
+
"frames": 40,
|
| 77 |
+
"fps": 4,
|
| 78 |
+
"duration_seconds": 10,
|
| 79 |
+
"unique_decoded_frames": 40,
|
| 80 |
+
"sha256": "a37c973bf4f1cccddca258973e0ef7510f31514f784e2195c3a63def97f0b2be",
|
| 81 |
+
"endpoint_mapping_verified": true
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"task": "rotate_knob",
|
| 85 |
+
"video": "4d_recordings/rotate_knob_4d_viser_check.mp4",
|
| 86 |
+
"frames": 40,
|
| 87 |
+
"fps": 4,
|
| 88 |
+
"duration_seconds": 10,
|
| 89 |
+
"unique_decoded_frames": 40,
|
| 90 |
+
"sha256": "a054617fd2621c9a6130b5b337890d62d7f5c9e8ceb6e781bbba7dca7cecb9a1",
|
| 91 |
+
"endpoint_mapping_verified": true
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"task": "tray_carry",
|
| 95 |
+
"video": "4d_recordings/tray_carry_4d_viser_check.mp4",
|
| 96 |
+
"frames": 40,
|
| 97 |
+
"fps": 4,
|
| 98 |
+
"duration_seconds": 10,
|
| 99 |
+
"unique_decoded_frames": 40,
|
| 100 |
+
"sha256": "34bc57c9378f6e28484c6e20398e379cfeeedbf656f6adf99c413742e9a2ca16",
|
| 101 |
+
"endpoint_mapping_verified": true
|
| 102 |
+
}
|
| 103 |
+
],
|
| 104 |
+
"combined": {
|
| 105 |
+
"path": "4d_viser_check.mp4",
|
| 106 |
+
"frames": 400,
|
| 107 |
+
"fps": 4,
|
| 108 |
+
"duration_seconds": 100,
|
| 109 |
+
"sha256": "eb585ffeec631dacb46bb76d41c27b80978eeb314d15856ffaebc73a97344f8d"
|
| 110 |
+
},
|
| 111 |
+
"note": "Actual Viser browser captures at 20 positions per view, two viewpoints; not native-rate full playback."
|
| 112 |
+
}
|