study — 20 tasks x 200 eps (4000 total); incl. _traj_data; excl. viz/export (part 66)

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study/move_seal_next_to_pencup/d8/export/episode0/bbox3d.json

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study/move_seal_next_to_pencup/d8/export/episode0/bbox3d_exact.json

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+}

study/move_seal_next_to_pencup/d8/export/episode0/masking.json

@@ -0,0 +1,184 @@
+{
+  "episode_0": {
+    "task": "move_seal_next_to_pencup",
+    "task_type": "single",
+    "num_frames": 136,
+    "role_names_raw": {
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+      "destination_id": 75,
+      "target_object_names": [
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+        "100_seal"
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+      "destination_object_names": [
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+      "intended_contact_names": [
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+      ]
+    },
+    "articulation_links": [],
+    "stages": [
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+        "target_name": "100_seal",
+        "start": 72,
+        "end": 126,
+        "settle": 126,
+        "stage": 0,
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+          "radius": 0.115,
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+          "reason": "next-to 059_pencup (landing 8.5cm off centre)"
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study/move_seal_next_to_pencup/d8/export/episode0/meta.json

@@ -0,0 +1,119 @@
+{
+  "episode": 0,
+  "cameras": [
+    "countertop_camera"
+  ],
+  "frames": [
+    0,
+    68,
+    135
+  ],
+  "what": [
+    "pcd",
+    "bbox2d",
+    "bbox3d",
+    "bbox3d_exact",
+    "panel"
+  ],
+  "pcd_stride": 1,
+  "actor_bbox_available": true,
+  "task": "move_seal_next_to_pencup",
+  "task_type": "single",
+  "roles_source": "masking_resolve (per-stage target/bin)",
+  "stages": [
+    {
+      "stage": 0,
+      "target_id": 74,
+      "target_name": "100_seal",
+      "bin": {
+        "bin_type": "region_anchor",
+        "anchor_id": 75,
+        "anchor_name": "059_pencup",
+        "center": [
+          -0.08779355138540268,
+          -0.0528416782617569
+        ],
+        "radius": 0.115,
+        "surface_z": 1.7400000095367432,
+        "reason": "next-to 059_pencup (landing 8.5cm off centre)"
+      }
+    }
+  ],
+  "actor_id_map": {
+    "1": "ground",
+    "5": "robot/footprint",
+    "6": "robot/base_link",
+    "7": "robot/inertial_link",
+    "8": "robot/right_wheel_link",
+    "9": "robot/left_wheel_link",
+    "10": "robot/fl_castor_link",
+    "11": "robot/fl_wheel_link",
+    "12": "robot/fr_castor_link",
+    "13": "robot/fr_wheel_link",
+    "14": "robot/rr_castor_link",
+    "15": "robot/rr_wheel_link",
+    "16": "robot/rl_castor_link",
+    "17": "robot/rl_wheel_link",
+    "18": "robot/box1_Link",
+    "19": "robot/box2_Link",
+    "20": "robot/camera_base_link",
+    "21": "robot/camera_link1",
+    "22": "robot/camera_link2",
+    "23": "robot/fl_base_link",
+    "24": "robot/fl_link1",
+    "25": "robot/fl_link2",
+    "26": "robot/fl_link3",
+    "27": "robot/fl_link4",
+    "28": "robot/fl_link5",
+    "29": "robot/fl_link6",
+    "30": "robot/left_camera",
+    "31": "robot/fl_link7",
+    "32": "robot/fl_link8",
+    "33": "robot/fr_base_link",
+    "34": "robot/fr_link1",
+    "35": "robot/fr_link2",
+    "36": "robot/fr_link3",
+    "37": "robot/fr_link4",
+    "38": "robot/fr_link5",
+    "39": "robot/fr_link6",
+    "40": "robot/right_camera",
+    "41": "robot/fr_link7",
+    "42": "robot/fr_link8",
+    "43": "robot/lr_base_link",
+    "44": "robot/lr_link1",
+    "45": "robot/lr_link2",
+    "46": "robot/lr_link3",
+    "47": "robot/lr_link4",
+    "48": "robot/lr_link5",
+    "49": "robot/lr_link6",
+    "50": "robot/lr_link7",
+    "51": "robot/rr_base_link",
+    "52": "robot/rr_link1",
+    "53": "robot/rr_link2",
+    "54": "robot/rr_link3",
+    "55": "robot/rr_link4",
+    "56": "robot/rr_link5",
+    "57": "robot/rr_link6",
+    "58": "robot/rr_link7",
+    "60": "wall",
+    "61": "014_bookcase",
+    "62": "042_wooden_box",
+    "63": "table",
+    "74": "100_seal",
+    "75": "059_pencup",
+    "76": "090_trophy",
+    "77": "001_bottle",
+    "78": "001_bottle",
+    "79": "108_block",
+    "80": "090_trophy",
+    "81": "108_block",
+    "82": "023_tissue-box",
+    "83": "045_sand-clock"
+  },
+  "units": {
+    "xyz": "meters, world frame",
+    "bbox2d": "pixels xyxy",
+    "bbox3d": "meters, world frame, VISIBLE-surface AABB",
+    "bbox3d_exact": "meters, world frame; 'obb' = PRIMARY oriented box (center/half_size/quat/corners), 'min/max' = legacy axis-aligned AABB; obb null on pre-OBB data"
+  }
+}