Publish reviewed Track 2 challenge tiers

track_2/README.md

@@ -1,12 +1,12 @@
 # Track 2: trajectory variants
 
-Track 2 contains the same 30 human-object interaction episodes in two challenge tiers. Both tiers use the same episode order, 22,990-frame timeline, tasks, exocentric RGB observation, fitted ground planes, and G1 support surfaces.
+Track 2 contains the same 30 human-object interaction episodes in two challenge tiers. Both tiers use the same episode order, 22,990-frame timeline, tasks, and exocentric RGB observation.
 
 | Tier | Directory | Human trajectory | Object trajectory and mesh |
 |---|---|---|---|
 | Tier 1: multiview caption | [`tier_1_multiview_caption/`](tier_1_multiview_caption/) | Original SOMA-X reconstruction | Original pose and aligned mesh |
-| Tier 2: synthetic noise | [`tier_2_synthetic_noise/`](tier_2_synthetic_noise/) | Synthetically perturbed human trajectory | Synthetically perturbed object trajectory; original mesh |
+| Tier 2: synthetic noise | [`tier_2_synthetic_noise/`](tier_2_synthetic_noise/) | Tier 1 with deterministic root SE(3) random walk | Tier 1 with an independent deterministic object SE(3) random walk; original mesh |
 
 Each directory is a complete LeRobot v2.1 dataset with its own `README.md`, `meta/`, `data/`, `videos/`, and `mesh/`. Select one tier directory as the dataset root. Do not concatenate tiers: episode and global frame indices intentionally overlap so results can be compared frame by frame.
 
-The `observation.images.exo_camera` video stream is byte-identical across tiers and is the monocular input participants should use for reconstruction. “Multiview caption” is the challenge tier name; this staged participant release exposes only the selected exocentric stream. Reconstruction results are not published; participants generate them with their own method before retargeting and grounding.
+The `observation.images.exo_camera` video stream is byte-identical across tiers and is the monocular input participants should use for reconstruction. “Multiview caption” is the challenge tier name; this staged participant release exposes only the selected exocentric stream. Reconstruction results are not published; participants generate them with their own method before retargeting and grounding. Tier 2 uses deterministic seed-42 cumulative bounds of 16 mm / 8 degrees for the human root and 30 mm / 30 degrees for the object. These produce 3.815 cm CD-h and 6.045 cm CD-o, calibrated to half of CARI4D's BEHAVE paper errors. Its complete generation and metric details are recorded in `tier_2_synthetic_noise/provenance/synthetic_noise.json`.

track_2/tier_1_multiview_caption/README.md

@@ -22,7 +22,6 @@ track_2/tier_1_multiview_caption/
 ├── data/chunk-000/episode_0000NN.parquet    human + object pose, one row per frame
 ├── videos/chunk-000/observation.images.exo_camera/episode_0000NN.mp4
 ├── mesh/<object>/<object>.glb               textured mesh
-├── support_surface/<sequence>_support.usda  static G1 support geometry
 └── meta/
     ├── info.json                            schema, counts, tasks, objects
     ├── episodes_metadata.jsonl              episode → sequence, task, object, mesh
@@ -89,12 +88,3 @@ coefficients for `ax + by + cz + d = 0` in the same source OpenCV world frame
 as `observation.object.pose`. SOMA-to-G1 retargeting transforms this fitted
 plane through its first-frame anchor. Do not replace it with a horizontal
 world-plane estimate when reproducing a retargeted training reference.
-
-## Support surface
-
-Every episode declares `support_surface/<sequence_id>_support.usda` in
-`meta/episodes_metadata.jsonl`. These static collision stages use metres and Z-up in
-the released G1 retargeted world. Place the declared file at
-`<motion-root>/whole_body/reconstructed_stage/<sequence_id>_support.usda` alongside
-the G1 retargeted motion dataset before grounding or training. Ground-only episodes
-have a valid empty stage at the same path.

track_2/tier_1_multiview_caption/meta/episodes_metadata.jsonl

@@ -1,30 +1,30 @@
-{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 0, "frames": 778, "ground_plane": "ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "object": "tall_bar_stool", "sequence_id": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "support_surface": "support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."}
-{"calibration_sequence": "2026-05-18_15-34-58_calibration", "episode_index": 1, "frames": 747, "ground_plane": "ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json", "mesh": "mesh/vacuum/vacuum.glb", "notes": "2026-05-18_17-06-21_vacuum_left_lean_02", "object": "vacuum", "sequence_id": "2026-05-18_17-06-21_vacuum_left_lean_02", "support_surface": "support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."}
-{"calibration_sequence": "2026-06-02_09-23-23_calibration", "episode_index": 2, "frames": 980, "ground_plane": "ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json", "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", "notes": "2026-06-02_10-04-42_blue_easter_basket_place_10", "object": "blue_easter_basket", "sequence_id": "2026-06-02_10-04-42_blue_easter_basket_place_10", "support_surface": "support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."}
-{"calibration_sequence": "2026-04-27_09-37-33_calibration", "episode_index": 3, "frames": 781, "ground_plane": "ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "notes": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "object": "contigo_coffee_mug", "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "support_surface": "support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."}
-{"calibration_sequence": "2026-04-24_09-28-11_calibration", "episode_index": 4, "frames": 803, "ground_plane": "ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json", "mesh": "mesh/baseball_bat/baseball_bat.glb", "notes": "2026-04-24_11-40-52_baseball_bat_rotate_05", "object": "baseball_bat", "sequence_id": "2026-04-24_11-40-52_baseball_bat_rotate_05", "support_surface": "support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."}
-{"calibration_sequence": "2026-03-18_17-41-31_calibration", "episode_index": 5, "frames": 1003, "ground_plane": "ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json", "mesh": "mesh/big_black_box/big_black_box.glb", "notes": "2026-03-18_19-36-56_g1_box_rotate_01", "object": "big_black_box", "sequence_id": "2026-03-18_19-36-56_g1_box_rotate_01", "support_surface": "support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the G1 Box and rotate the box around the bounding area."}
-{"calibration_sequence": "2026-06-01_09-36-34_calibration", "episode_index": 6, "frames": 546, "ground_plane": "ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json", "mesh": "mesh/monitor/monitor.glb", "notes": "2026-06-01_11-26-44_monitor_rotate_05", "object": "monitor", "sequence_id": "2026-06-01_11-26-44_monitor_rotate_05", "support_surface": "support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."}
-{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "support_surface": "support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."}
-{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "support_surface": "support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."}
-{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "support_surface": "support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."}
-{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "support_surface": "support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."}
-{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "support_surface": "support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Pick up the book from the table and place it on the floor."}
-{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "support_surface": "support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."}
-{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "support_surface": "support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."}
-{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "support_surface": "support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."}
-{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "support_surface": "support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."}
-{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "support_surface": "support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."}
-{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "support_surface": "support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."}
-{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "support_surface": "support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the blue trash can and slide the blue trash can side ways."}
-{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "support_surface": "support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."}
-{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "support_surface": "support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."}
-{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "support_surface": "support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."}
-{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "support_surface": "support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."}
-{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "support_surface": "support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."}
-{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "support_surface": "support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."}
-{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "support_surface": "support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."}
-{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "support_surface": "support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."}
-{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "support_surface": "support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."}
-{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "support_surface": "support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."}
-{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "support_surface": "support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."}
+{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 0, "frames": 778, "ground_plane": "ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "object": "tall_bar_stool", "sequence_id": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."}
+{"calibration_sequence": "2026-05-18_15-34-58_calibration", "episode_index": 1, "frames": 747, "ground_plane": "ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json", "mesh": "mesh/vacuum/vacuum.glb", "notes": "2026-05-18_17-06-21_vacuum_left_lean_02", "object": "vacuum", "sequence_id": "2026-05-18_17-06-21_vacuum_left_lean_02", "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."}
+{"calibration_sequence": "2026-06-02_09-23-23_calibration", "episode_index": 2, "frames": 980, "ground_plane": "ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json", "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", "notes": "2026-06-02_10-04-42_blue_easter_basket_place_10", "object": "blue_easter_basket", "sequence_id": "2026-06-02_10-04-42_blue_easter_basket_place_10", "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."}
+{"calibration_sequence": "2026-04-27_09-37-33_calibration", "episode_index": 3, "frames": 781, "ground_plane": "ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "notes": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "object": "contigo_coffee_mug", "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."}
+{"calibration_sequence": "2026-04-24_09-28-11_calibration", "episode_index": 4, "frames": 803, "ground_plane": "ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json", "mesh": "mesh/baseball_bat/baseball_bat.glb", "notes": "2026-04-24_11-40-52_baseball_bat_rotate_05", "object": "baseball_bat", "sequence_id": "2026-04-24_11-40-52_baseball_bat_rotate_05", "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."}
+{"calibration_sequence": "2026-03-18_17-41-31_calibration", "episode_index": 5, "frames": 1003, "ground_plane": "ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json", "mesh": "mesh/big_black_box/big_black_box.glb", "notes": "2026-03-18_19-36-56_g1_box_rotate_01", "object": "big_black_box", "sequence_id": "2026-03-18_19-36-56_g1_box_rotate_01", "task": "Walk over to the G1 Box and rotate the box around the bounding area."}
+{"calibration_sequence": "2026-06-01_09-36-34_calibration", "episode_index": 6, "frames": 546, "ground_plane": "ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json", "mesh": "mesh/monitor/monitor.glb", "notes": "2026-06-01_11-26-44_monitor_rotate_05", "object": "monitor", "sequence_id": "2026-06-01_11-26-44_monitor_rotate_05", "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."}
+{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."}
+{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."}
+{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."}
+{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."}
+{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "task": "Pick up the book from the table and place it on the floor."}
+{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."}
+{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."}
+{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."}
+{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."}
+{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."}
+{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."}
+{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "task": "Walk over to the blue trash can and slide the blue trash can side ways."}
+{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."}
+{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."}
+{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."}
+{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."}
+{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."}
+{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."}
+{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."}
+{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."}
+{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."}
+{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."}
+{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."}

track_2/tier_1_multiview_caption/meta/info.json

@@ -643,9 +643,6 @@
   "splits": {
     "train": "0:30"
   },
-  "support_surface_frame": "g1_retarget_world",
-  "support_surface_path": "support_surface/{sequence_id}_support.usda",
-  "support_surface_units": "metres",
   "tasks": [
     {
       "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright.",

track_2/tier_1_multiview_caption/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.87094945, 0.6472412, 0.6805486)]
-        double radius = 0.0466262713583489
-        double3 xformOp:translate = (-0.6703524654049726, 0.7588439489572992, 0.8579249489875762)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda

@@ -1,34 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.85026497, 0.57249665, 0.6989591)]
-        double radius = 0.05361670623795184
-        double3 xformOp:translate = (-1.207300775734293, 0.6721465448906071, 0.7632628675869704)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-
-    def Cylinder "object_1" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.9019251, 0.5794947, 0.5881046)]
-        double radius = 0.05268964219607114
-        double3 xformOp:translate = (-1.3179959185627097, 0.7626626428726306, 0.7669492660655428)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.91806465, 0.6436726, 0.8323664)]
-        double radius = 0.21825407159978735
-        double3 xformOp:translate = (-0.9087255351116422, -0.035479385282453514, 0.8565479855842795)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.9073608, 0.5830733, 0.5401777)]
-        double radius = 0.08481162225048822
-        double3 xformOp:translate = (-1.238603304990316, -0.17362171504790616, 0.7572639538131507)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.7196302, 0.6468296, 0.91883016)]
-        double radius = 0.16913101875816094
-        double3 xformOp:translate = (0.23090111099908311, -0.9744983471551923, 0.8516838911014109)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.9612001, 0.68347996, 0.57682467)]
-        double radius = 0.12478255645333762
-        double3 xformOp:translate = (-0.29309539135011836, 0.643122004942171, 0.7511897739673112)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda

@@ -1,20 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cube "chair_back" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)]
-        double size = 1
-        double3 xformOp:translate = (-0.5324, -0.486, 0.715)
-        double3 xformOp:scale = (0.02, 0.12, 0.27)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
-    }
-}

track_2/tier_1_multiview_caption/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda

@@ -1,31 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cube "chair_back_top" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)]
-        double size = 1
-        double3 xformOp:translate = (0.9309, -0.2483, 0.706)
-        double3 xformOp:scale = (0.1, 0.13, 0.02)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
-    }
-
-    def Cube "chair_back_top_return" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)]
-        double size = 1
-        double3 xformOp:translate = (1.0451, -0.342, 0.6875)
-        double3 xformOp:scale = (0.1, 0.13, 0.02)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
-    }
-}

track_2/tier_1_multiview_caption/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda

@@ -1,20 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cube "tabletop" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)]
-        double size = 1
-        double3 xformOp:translate = (-0.7757, 0.1698, 0.7771)
-        double3 xformOp:scale = (0.84, 0.282, 0.01)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
-    }
-}

track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.97095394, 0.74483925, 0.6270844)]
-        double radius = 0.4798645384430267
-        double3 xformOp:translate = (-1.0921085818436254, 0.17156735096939002, 0.7596419482088983)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.9461438, 0.5519506, 0.73572975)]
-        double radius = 0.1285814068322424
-        double3 xformOp:translate = (-1.0304469268887362, -0.09052110188649923, 0.7590109513991395)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda

@@ -1,21 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.8226553, 0.5927037, 0.91482455)]
-        double radius = 0.15610055540809342
-        double3 xformOp:translate = (-0.8950593179824066, -0.10770559795047221, 0.44876584430138483)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}

track_2/tier_1_multiview_caption/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda

@@ -1,11 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda

@@ -1,22 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.72469527, 0.63386506, 0.96957123)]
-        double radius = 0.1351534672204729
-        double3 xformOp:translate = (-0.34456947920916897, 0.7869074935029406, 0.777391476352695)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}
-

track_2/tier_1_multiview_caption/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda

@@ -1,21 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "support_surfaces"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "support_surfaces"
-{
-    def Cylinder "object_0" (
-        prepend apiSchemas = ["PhysicsCollisionAPI"]
-    )
-    {
-        uniform token axis = "Z"
-        double height = 0.04
-        color3f[] primvars:displayColor = [(0.6876813, 0.93062145, 0.81241834)]
-        double radius = 0.3045888555026075
-        double3 xformOp:translate = (-0.9725818185937641, -0.1064833273325322, 0.8621988938318569)
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-    }
-}

track_2/tier_2_synthetic_noise/README.md

@@ -1,8 +1,18 @@
 # Track 2 — Tier 2: synthetic noise
 
-This tier provides synthetically perturbed human and object trajectories while
-preserving identity parameters, visibility, episode timing, videos, and meshes.
-Object poses remain **`world_T_object` in the source OpenCV world frame**.
+This tier applies deterministic, horizon-normalized SE(3) random walks to the
+Tier 1 human root and object trajectory while preserving all local joint motion,
+identity parameters, visibility, episode timing, videos, and meshes. Human cumulative
+bounds are 16 mm translation and 8 degrees orientation; object bounds are 30 mm and
+30 degrees. The generator uses PCG64 seed 42 with SHA-256-derived per-sequence and
+per-channel seeds. Object poses remain **`world_T_object` in the source OpenCV world
+frame**.
+
+The bounds were calibrated with the CARI4D 8,196-point symmetric surface metric to
+half of the paper's BEHAVE errors (targets: 3.87 cm CD-h and 6.025 cm CD-o). Across all
+22,990 frames this variant measures 3.815 cm mean CD-h and 6.045 cm mean CD-o. The full
+metric report and exact per-episode bounds are embedded in
+`provenance/synthetic_noise.json`.
 
 | | |
 |---|---|
@@ -20,13 +30,14 @@ track_2/tier_2_synthetic_noise/
 ├── data/chunk-000/episode_0000NN.parquet    human + object pose, one row per frame
 ├── videos/chunk-000/observation.images.exo_camera/episode_0000NN.mp4
 ├── mesh/<object>/<object>.glb               textured mesh
-├── support_surface/<sequence>_support.usda  static G1 support geometry
 └── meta/
     ├── info.json                            schema, counts, tasks, objects
     ├── episodes_metadata.jsonl              episode → sequence, task, object, mesh
     ├── episodes.jsonl                       episode lengths and tasks
     ├── episodes_stats.jsonl                 per-episode feature statistics
     └── tasks.jsonl                          task descriptions
+└── provenance/synthetic_noise.json          exact seeds, bounds, and source hashes
+
 ```
 
 ## Pose data
@@ -86,12 +97,3 @@ coefficients for `ax + by + cz + d = 0` in the same source OpenCV world frame
 as `observation.object.pose`. SOMA-to-G1 retargeting transforms this fitted
 plane through its first-frame anchor. Do not replace it with a horizontal
 world-plane estimate when reproducing a retargeted training reference.
-
-## Support surface
-
-Every episode declares `support_surface/<sequence_id>_support.usda` in
-`meta/episodes_metadata.jsonl`. These static collision stages use metres and Z-up in
-the released G1 retargeted world. Place the declared file at
-`<motion-root>/whole_body/reconstructed_stage/<sequence_id>_support.usda` alongside
-the G1 retargeted motion dataset before grounding or training. Ground-only episodes
-have a valid empty stage at the same path.

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:29fada5a3bb751a6a84f92bd9647a4f1a608f94fffd9c01fd4dbbf4e97f958eb
-size 1058060
+oid sha256:b5245793c7735b2ac440854f601730f5e85c8e75e94a66f88a47653499adc413
+size 1058749

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000001.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a035d865bf16bc4c882354ab15528eb3b18abb5a373ec6ae757b94e3ba22efb3
-size 1016293
+oid sha256:3ceb3648a5f1299f1e8797e9ead122c79f4f4937007bf6bea3106c559e0413d5
+size 1016982

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000002.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0332c17de1bf4a420eae52ab530bb980c39b2b4cb2193f1554de48a18c3bdb8c
-size 1330767
+oid sha256:aa6130a4c60d6a03df6e52472b9db74945afa5087e6311ccfa601c94503fa35d
+size 1331456

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000003.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:054b3324ded8cdb56437c162c81f48bbbd3ad1bd0e0ec6f0b037cb931e8ee493
-size 1062206
+oid sha256:ba2156a496ee6c7e226919504a01085bab0f73ebe9b492627a8d370e925cbbc8
+size 1062895

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000004.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fc837711233335fce6d82eadaf35b5fc205bb2d5992b4893736ce5a3b9ca4d7
-size 1091627
+oid sha256:ab08ea1881ea2ebe52e331aea2281f918ebf2563641e26299bad1e00e2a78776
+size 1092316

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000005.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:90befee65496938afc276e21ea02e1e661debed041eea706c2df8670167a4184
-size 1361881
+oid sha256:e9ce1a7e96baf78159309de7b2e327131d7fce9ddf9a817882e1ae5d4e8436ce
+size 1362570

track_2/tier_2_synthetic_noise/data/chunk-000/episode_000006.parquet

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