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file mode 100644 index 0000000000000000000000000000000000000000..ce8065a274e1ccd6a661bfcaf5d3711592462a49 --- /dev/null +++ b/Simul-Robot/c001_episode_002260/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its left hand to grasp a white plastic ranch dressing bottle with a green cap resting inside a green square box, lifts it out, then carries and places it back down into the same square box, amid a green tomato, a canned corn tin, a purple onion, and a shell-shaped object on a marble-patterned tabletop under bright outdoor daylight.", + "structured": { + "targets": [ + "ranch_dressing_bottle" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "ranch_dressing_bottle", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to grasp a white plastic ranch dressing bottle with a green cap resting inside a green square box, lifts it out, then carries and places it back down into the same square box, amid a green tomato, a canned corn tin, a purple onion, and a shell-shaped object on a marble-patterned tabletop under bright outdoor daylight. The camera is static.", + "view1": "The humanoid robot uses its left hand to grasp a white plastic ranch dressing bottle with a green cap resting inside a green square box, lifts it out, then carries and places it back down into the same square box, amid a green tomato, a canned corn tin, a purple onion, and a shell-shaped object on a marble-patterned tabletop under bright outdoor daylight. The camera is static.", + "view2": "The humanoid robot uses its left hand to grasp a white plastic ranch dressing bottle with a green cap resting inside a green square box, lifts it out, then carries and places it back down into the same square box, amid a green tomato, a canned corn tin, a purple onion, and a shell-shaped object on a marble-patterned tabletop under bright outdoor daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002260/labels/objects.json b/Simul-Robot/c001_episode_002260/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..3c115850c2c28bc1db868d70706caa6b661674b8 --- /dev/null +++ b/Simul-Robot/c001_episode_002260/labels/objects.json @@ -0,0 +1,2985 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002260", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"ranch_dressing_bottle" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002260/sample.json b/Simul-Robot/c001_episode_002260/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..d164dc9a82a176629d3c314a2410569e7a944298 --- /dev/null +++ b/Simul-Robot/c001_episode_002260/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002260", + "subset": "Simul-Robot", + "id": "c001_episode_002260", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002260", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002260", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 13:44:30" + }, + "n_views": 3, + "n_frames": 242, + "fps": 20.0, + "duration_s": 12.1, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + -18489.6324, + -18814.4699, + 106.0937 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -161.2746 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + -18489.6324, + -18814.4699, + 106.0937 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to grasp a white plastic ranch dressing bottle with a green cap resting inside a green square box, lifts it out, then carries and places it back down into the same square box, amid a green tomato, a canned corn tin, a purple onion, and a shell-shaped object on a marble-patterned tabletop under bright outdoor daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "ranch_dressing_bottle", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 8, + "hands_used": [ + "left" + ], + "primary_object": "ranch_dressing_bottle", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 780, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries and places it back down into", + "primary_end_speed_mean_m_per_frame": 0.00015, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0027, + "primary_end_hand_dist_m": 0.2513, + "primary_end_support_dist_m": 0.0054, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "ranch_dressing_bottle": 0.20078 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "a8d545183c1184c5b3e759c4dd7d65985cbe0735b0e94f7c6b29e860de64c64d", + "captions.json": "5e2fb7a42fe9f486b112cf73413f9b306f71a34e450116b4c4bf81413820e352", + "depth/depth.zip": "2511c3457dc8d5f0bb0fc77b169673d8d08915c5741fe456bbecbeb06b3eca47", + "labels/objects.json": "3fe9c832b6a6a183dc2398555aa712b5dcd5370e2357bb20e72c23537dcd6275", + "labels/visibility_states.json": "22f4061ca7248d44ee8252beee8c7d144685524553b293b45d0bf8cabd417601", + "source/cameras.json": "e17d7826f3614ac516c9cac0a5d07555e5f935b77356d8539f4546a11fe1af50", + "source/caption.txt": "028e3f6db7b77b98796e7aee46b116e4d303f4f8240c3932a629c7d7095e87d2", + "source/meta.json": "fe42e5852068b8ebbc1d4dd7738538fe78a4f63c207c23ec3cdeb7f21ae7506d", + "source/points_target.npz": "69eb5609986d8620ff199d1febc881ac75ac58294aad15e66675803297e8407d", + "source/visibility.json": "28a05cdf80fe1eea95357e2dc1952552bfbb1583d7497c01a8c90d22a4aa34a9", + "tracks3d.npz": "bee3b75b25cf5f19837f3d727cb90c4c582879069a7c403bc371c4db9c994abb", + "videos/view0.mp4": "c9647d8351e4c6c7a3e8184e4276ef3c64f6451d3c3678a3c3fd96af48ec34fa", + "videos/view1.mp4": "9c11c7f1c763b659e0a6f51cc5b1f3af1e1b2adfc34ca2ac0be7ba8b3971e4da", + "videos/view2.mp4": "b70c33221f489bb0d942d96a814236effad734305c9e905cb8641c1a62ecafc5" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002260/source/cameras.json b/Simul-Robot/c001_episode_002260/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..67f7bbe143744e5fe7f506c52f10ed2c71b27e52 --- /dev/null +++ b/Simul-Robot/c001_episode_002260/source/cameras.json @@ -0,0 +1,26321 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002260", + "map": "c001", + "frame_count": 242, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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"w2c_frame0": [ + [ + 0.008150600507184276, + 0.005793764870296983, + 0.0, + 259.6429146067369 + ], + [ + -0.002415335494839019, + 0.003397865662478289, + -0.009089590936181988, + 20.38971459157938 + ], + [ + 0.005266295265142106, + -0.007408562449454251, + -0.004168853153191927, + -41.194049929887576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002260/source/caption.txt b/Simul-Robot/c001_episode_002260/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..6df3236d17ffaa19b70ea2507d11d648cf3183e9 --- /dev/null +++ b/Simul-Robot/c001_episode_002260/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its left hand to grasp a white plastic ranch dressing bottle with a green cap resting inside a green square box, lifts it out, then carries and places it back down into the same square box, amid a green tomato, a canned corn tin, a purple onion, and a shell-shaped object on a marble-patterned tabletop under bright outdoor daylight. diff --git a/Simul-Robot/c001_episode_002260/source/meta.json b/Simul-Robot/c001_episode_002260/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..457d4c9a50b2472554bf33603981ad1fc5b45a63 --- /dev/null +++ b/Simul-Robot/c001_episode_002260/source/meta.json @@ -0,0 +1,363 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002260", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002260", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002260", + "robot_yaw_deg": 108.7254, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 242, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 242, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "ranch_dressing_bottle" + }, + "relay": null + }, + "seed": 994052607, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_marble_rough_grigio_carnico_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 0.9643, + "az_delta_deg": 3.589, + "elev_delta_deg": 2.886 + }, + "cam01": { + "dist_scale": 0.9456, + "az_delta_deg": 1.451, + "elev_delta_deg": 1.916 + }, + "cam02": { + "dist_scale": 0.9654, + "az_delta_deg": -3.294, + "elev_delta_deg": -0.673 + } + }, + "arm_contact_quota": 1 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + "tonemap_auto_exposure_method": "UE_STOCK", + "tonemap_min_ev100": -10.0, + "tonemap_max_ev100": 20.0, + "tonemap_auto_exposure_bias": 0.0 + }, + "enforced": false, + "corrections": { + "settings": [], + "cvars": [] + }, + "scope": "global constant across all clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam01": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam02": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + } + }, + "aa": { + "method": "AAM_NONE", + "spatial_sample_count": 2, + "temporal_sample_count": 1 + }, + "lumen_cvars": [ + "r.Lumen.ScreenProbeGather.DownsampleFactor 8", + "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5" + ], + "scope": "global constant across all clips" + }, + "workspace": { + "table_actor": "table_01_aar", + "top_obb": { + "center_cm": [ + -18489.6324, + -18814.4699, + 106.0937 + ], + "half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "yaw_deg": -161.2746 + }, + "top_z_probe": { + "z_plane": 106.0937, + "plane_n": 9, + "n_rays": 9, + "plane_frac": 1.0, + "plane_spread_cm": 0.0, + "z_min": 106.0937, + "z_max": 106.0937, + "above_plane_cm": [], + "aabb_top_z": 106.0937, + "aabb_minus_ray_cm": 0.0 + }, + "aim": { + "policy": "target_trajectory_midpoint_on_top_plane", + "aim_cm": [ + -18462.7692, + -18840.9887, + 106.0937 + ], + "aim_obb_local": [ + -16.9278, + 33.7391, + 0.0 + ], + "traj_xy_bbox": [ + [ + -18481.944, + -18846.241 + ], + [ + -18443.594, + -18835.736 + ] + ], + "dist_to_obb_center_cm": 37.748 + } + }, + "scene": { + "map": "c001", + "scene_hint": "neutral" + }, + "objects": { + "replay": [ + "ranch_dressing_bottle", + "square_big_box" + ], + "n_objects": 2, + "primary_object": "ranch_dressing_bottle", + "primary_span_cm": 38.35, + "kinds": { + "ranch_dressing_bottle": "target", + "square_big_box": "placer" + }, + "targets": [ + "ranch_dressing_bottle" + ], + "placers": [ + "square_big_box" + ], + "ambiguous": [], + "motion_cm": { + "square_big_box": 0.007, + "ranch_dressing_bottle": 38.35 + }, + "n_distractors": 8, + "arm_contact": [ + "yellow_quince_fruit_v1" + ], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "hands_used": [ + "left" + ], + "hand_travel_cm": { + "left": 39.5836, + "right": 0.3453 + } + }, + "depth": { + "format": "16-bit PNG, pixel value = centimeters", + "source": "MRQ WorldDepth PP pass, EXR half, cv2 channel index 2 (z-depth)", + "zip_compression": "stored (uncompressed)", + "preview_mp4_is_not_metric": true, + "per_camera": { + "cam00": { + "frames": 242, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 13.617, + "depth_cm_max": 265.0, + "preview_range_cm": [ + 28.078, + 259.25 + ] + }, + "cam02": { + "frames": 242, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 29.391, + "depth_cm_max": 47264.0, + "preview_range_cm": [ + 29.719, + 10176.0 + ] + }, + "cam01": { + "frames": 242, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.988882, + "depth_valid_ratio_min": 0.988882, + "invalid_row_centroid": 0.058748, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 17.188, + "depth_cm_max": 64992.0, + "preview_range_cm": [ + 19.391, + 23856.0 + ] + } + } + }, + "milestone": "P2-M1", + "generated": "2026-09-12 13:44:30", + "pending": [] +} \ No newline at end of file diff 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b/Simul-Robot/c001_episode_002870/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its left hand to pick up a small dark red rectangular foam brick from the granite countertop and carries it over to place it inside a magenta plastic crate, amid nearby salt packaging, a blue toy phone booth, a can, and figurines under bright daylight.", + "structured": { + "targets": [ + "dark_foam_brick" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "dark_foam_brick", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a small dark red rectangular foam brick from the granite countertop and carries it over to place it inside a magenta plastic crate, amid nearby salt packaging, a blue toy phone booth, a can, and figurines under bright daylight. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a small dark red rectangular foam brick from the granite countertop and carries it over to place it inside a magenta plastic crate, amid nearby salt packaging, a blue toy phone booth, a can, and figurines under bright daylight. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a small dark red rectangular foam brick from the granite countertop and carries it over to place it inside a magenta plastic crate, amid nearby salt packaging, a blue toy phone booth, a can, and figurines under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002870/labels/objects.json b/Simul-Robot/c001_episode_002870/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..e73132293b4fff827a6902e2b2e6741efbfe8049 --- /dev/null +++ b/Simul-Robot/c001_episode_002870/labels/objects.json @@ -0,0 +1,3615 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002870", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002870/sample.json b/Simul-Robot/c001_episode_002870/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..46d1dc435596d20313de8090a7e7f9acab2e23b3 --- /dev/null +++ b/Simul-Robot/c001_episode_002870/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002870", + "subset": "Simul-Robot", + "id": "c001_episode_002870", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002870", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002870", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 20:00:40" + }, + "n_views": 3, + "n_frames": 305, + "fps": 20.0, + "duration_s": 15.25, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 20147.7819, + 15170.5872, + 104.997 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 65.2463 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 20147.7819, + 15170.5872, + 104.997 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a small dark red rectangular foam brick from the granite countertop and carries it over to place it inside a magenta plastic crate, amid nearby salt packaging, a blue toy phone booth, a can, and figurines under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "dark_foam_brick", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 8, + "hands_used": [ + "left" + ], + "primary_object": "dark_foam_brick", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 865, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it over to place it inside", + "primary_end_speed_mean_m_per_frame": 0.00016, + "primary_end_net_disp_10_frames_m": 0.0003, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0115, + "primary_end_hand_dist_m": 0.1878, + "primary_end_support_dist_m": 0.0026, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "dark_foam_brick": 0.29276 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "49d4f540ef91b8b76a34f84da591fe33002c4f541febe90397bbfe32bbe52bec", + "captions.json": "9ba70ebd4782daf09c79536df1c2dfa6662b4c6427bc54684b5cbbc9bc536056", + "depth/depth.zip": "e181feec8983db99a1f58686f889c32296c84a987675524828e2145e29be949c", + "labels/objects.json": "97407cf7c43a3b0272962a411f63d8b997055e895ae0b602540c81bb19258596", + "labels/visibility_states.json": "93ddff875a3489106772d87df73c817d0144a3b3689fbcbaedfb34be91e7d4a0", + "source/cameras.json": "d2d8a8c790f14a30f06d1efeb4b4dac637509f28f018ccf78fbb4a43e13322b8", + "source/caption.txt": "63544bc72dc2155ebf623182dd3470234098a5d8fa9df4b356f357f7072db07a", + "source/meta.json": "3843b1c4ee3ccf3637855defcfda1dba93374303fc306357c4567f97f31169eb", + "source/points_target.npz": "bc5f54892878ad63f20dd32af722235fb07e449b71571c034433bb93a14f464b", + "source/visibility.json": "d0122a81222ccec0e63890cf5b1155aacbea6703060992d4fbbf62ae0ff91714", + "tracks3d.npz": "15997596e848a53c37940214274dbf3dc8964aae3036ae2d0011969d46576c85", + "videos/view0.mp4": "7f01477e2e82d8353ff6cc2a109d4a40856f9240d5c3e80d600fc38588149599", + "videos/view1.mp4": "c3dba6d9a50c2d4339a1cd10737cdc6639e76279e5426249b1c27b9ad99a9532", + "videos/view2.mp4": "8a5d7b80fcd095597286d54d941bfaa8df592b213bd9f84a74c8a7ccff2a9673" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002870/source/cameras.json b/Simul-Robot/c001_episode_002870/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..63b65abdd4c8b6be31a9a08fb43ae03509b13c90 --- /dev/null +++ b/Simul-Robot/c001_episode_002870/source/cameras.json @@ -0,0 +1,33125 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002870", + "map": "c001", + "frame_count": 305, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/c001_episode_006130/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "The humanoid robot uses both hands to pick up a green-labeled peas can and a white \"Pure Orange Juice\" carton from a green tray, then carries and places them into a square box on the marble table, near a black can and a small toy figurine, under bright daylight.", + "structured": { + "targets": [ + "orange_juice_carton", + "peas_food_can" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "peas_food_can", + "n_objects": 3, + "hands_used": [ + "left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses both hands to pick up a green-labeled peas can and a white \"Pure Orange Juice\" carton from a green tray, then carries and places them into a square box on the marble table, near a black can and a small toy figurine, under bright daylight. The camera is static.", + "view1": "The humanoid robot uses both hands to pick up a green-labeled peas can and a white \"Pure Orange Juice\" carton from a green tray, then carries and places them into a square box on the marble table, near a black can and a small toy figurine, under bright daylight. The camera is static.", + "view2": "The humanoid robot uses both hands to pick up a green-labeled peas can and a white \"Pure Orange Juice\" carton from a green tray, then carries and places them into a square box on the marble table, near a black can and a small toy figurine, under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006130/labels/objects.json b/Simul-Robot/c001_episode_006130/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..7707cbd1fcf528c1d2e6027ee28e6df42dd1f6dc --- /dev/null +++ b/Simul-Robot/c001_episode_006130/labels/objects.json @@ -0,0 +1,6932 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_006130", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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a/Simul-Robot/c001_episode_006130/labels/visibility_states.json b/Simul-Robot/c001_episode_006130/labels/visibility_states.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7683e78e80671dc7313fcf0e64d5a7a9057529 --- /dev/null +++ b/Simul-Robot/c001_episode_006130/labels/visibility_states.json @@ -0,0 +1,17012 @@ +{ + "schema": "vpm-worldbench/simul-robot/visibility_states/1.0", + "id": "c001_episode_006130", + "n_frames": 422, + "views": [ + "view0", + "view1", + "view2" + ], + "source_views": [ + "cam00", + "cam01", + "cam02" + ], + "states": [ + "visible", + "occluded", + "out_of_frustum", + "not_spawned" + ], + "rule": "per frame and view (lists are [frame][view]): out_of_frustum if no point of the object projects inside the image (z > 0, 0 <= u,v < 1280 with the delivered K, cameras.npz K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K); else visible if visible_point_frac > 0.1 (occluded_visible_frac_max); else occluded. visible_point_frac = visible points / points inside the frustum (null when out of frustum). 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Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006130/source/cameras.json b/Simul-Robot/c001_episode_006130/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..854132daa6dca6c89e0bbe3d9a5857444afba341 --- /dev/null +++ b/Simul-Robot/c001_episode_006130/source/cameras.json @@ -0,0 +1,45761 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_006130", + "map": "c001", + "frame_count": 422, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 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carries and places them into a square box on the marble table, near a black can and a small toy figurine, under bright daylight. diff --git a/Simul-Robot/c001_episode_006130/source/meta.json b/Simul-Robot/c001_episode_006130/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e250a2ab949a8296de639ffd4290ea4cab2060d9 --- /dev/null +++ b/Simul-Robot/c001_episode_006130/source/meta.json @@ -0,0 +1,374 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_006130", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_006130", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006130", + "robot_yaw_deg": -72.1897, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 422, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" 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+ "peas_food_can": "target", + "square_big_box": "placer" + }, + "targets": [ + "orange_juice_carton", + "peas_food_can" + ], + "placers": [ + "square_big_box" + ], + "ambiguous": [], + "motion_cm": { + "peas_food_can": 57.292, + "square_big_box": 0.018, + "orange_juice_carton": 37.818 + }, + "n_distractors": 9, + "arm_contact": [], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "hands_used": [ + "left", + "right" + ], + "hand_travel_cm": { + "left": 44.5511, + "right": 49.1878 + } + }, + "depth": { + "format": "16-bit PNG, pixel value = centimeters", + "source": "MRQ WorldDepth PP pass, EXR half, cv2 channel index 2 (z-depth)", + "zip_compression": "stored (uncompressed)", + "preview_mp4_is_not_metric": true, + "per_camera": { + "cam00": { + "frames": 422, + "depth_valid_range_cm": [ + 1.0, 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a/Simul-Robot/c001_episode_006210/captions.json b/Simul-Robot/c001_episode_006210/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..ba365e8f24345c8557e34b1665800fb794c0f364 --- /dev/null +++ b/Simul-Robot/c001_episode_006210/captions.json @@ -0,0 +1,24 @@ +{ + "caption": "The humanoid robot uses its right hand to pick up a small white cat figurine and a blue-labeled tuna can from a marble counter and places them inside an open magenta plastic crate, near soda cans, a jar, and a cucumber, under bright outdoor daylight on a tiled plaza.", + "structured": { + "targets": [ + "blue_tuna_can", + "white_cat_figurine" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "white_cat_figurine", + "n_objects": 3, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its right hand to pick up a small white cat figurine and a blue-labeled tuna can from a marble counter and places them inside an open magenta plastic crate, near soda cans, a jar, and a cucumber, under bright outdoor daylight on a tiled plaza. The camera is static.", + "view1": "The humanoid robot uses its right hand to pick up a small white cat figurine and a blue-labeled tuna can from a marble counter and places them inside an open magenta plastic crate, near soda cans, a jar, and a cucumber, under bright outdoor daylight on a tiled plaza. The camera is static.", + "view2": "The humanoid robot uses its right hand to pick up a small white cat figurine and a blue-labeled tuna can from a marble counter and places them inside an open magenta plastic crate, near soda cans, a jar, and a cucumber, under bright outdoor daylight on a tiled plaza. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006210/labels/objects.json b/Simul-Robot/c001_episode_006210/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..3065360625eaf6cb4439fcbef169b091f5f24afd --- /dev/null +++ b/Simul-Robot/c001_episode_006210/labels/objects.json @@ -0,0 +1,6168 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_006210", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "blue_tuna_can", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/blue_tuna_can/StaticMeshes/tuna_can.tuna_can", + "bounds_cm": [ + -4.2755, + -4.2807, + -1.6756, + 4.2755, + 4.2807, + 1.6756 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 204.0049, + "n_verts": 8227, + "n_tris": 15728, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 25.105, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + "pivot_xyz": [ + [ 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"occluded_frames_per_cam": [ + 0, + 3, + 274 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 1, + "target": "white_cat_figurine" + } + } + }, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006210/sample.json b/Simul-Robot/c001_episode_006210/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..04cfa9d16217ba90cc07bedb347fb0f85a0d4a4f --- /dev/null +++ b/Simul-Robot/c001_episode_006210/sample.json @@ -0,0 +1,231 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_006210", + "subset": "Simul-Robot", + "id": "c001_episode_006210", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_006210", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006210", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 20:28:12" + }, + "n_views": 3, + "n_frames": 371, + "fps": 20.0, + "duration_s": 18.55, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + -14616.3467, + 18534.1735, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 13.2606 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + -14616.3467, + 18534.1735, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its right hand to pick up a small white cat figurine and a blue-labeled tuna can from a marble counter and places them inside an open magenta plastic crate, near soda cans, a jar, and a cucumber, under bright outdoor daylight on a tiled plaza.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "white_cat_figurine", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 6, + "hands_used": [ + "right" + ], + "primary_object": "white_cat_figurine", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1065, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 7e-05, + "primary_end_net_disp_10_frames_m": 0.0002, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0112, + "primary_end_hand_dist_m": 0.3715, + "primary_end_support_dist_m": 0.0076, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_tuna_can": 0.00011, + "white_cat_figurine": 0.28961 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "8725c16f47df835ff13c8bf4e43588049d4c562fc7c7d3c1d94062e2126caa94", + "captions.json": "d2cd0abcc5ff2ce5ade0357f2bc103c329ff50fd489785e47718da89cf040fd7", + "depth/depth.zip": "ed11a80a8b2334d5fd5f8da824abcde57199cd5bd45a51de5dcacc5a038fceb8", + "labels/objects.json": "3ee8413f43e7726212b54e6272dfadd7e7f6dd4853a03cf7d14262c4410c9cf6", + "labels/visibility_states.json": "4ef633c4356c8431c944dcba012aac264b7efe8060f2f7f121b9260b604b1594", + "source/cameras.json": "3e9e8407a5a9dbb48c322cb3aa829c290a9dca694b72529a9681f8947688d131", + "source/caption.txt": "c4bfef9c056969ada9bd038ca002127e6db4fb81047eba70ef2c563392436f6b", + "source/meta.json": "987f4c52255d7f8f69faa9b328cc8ac489dc2aceed11636a03330ce9d53d9bf8", + "source/points_target.npz": "c7eb331dbcd5a8831c72bb1c9ee5c9484082834206b194eea80e94df679f6637", + "source/visibility.json": "0a85cda27085435b41fd20472038860f1782f7c1f547e79440194c938c94f432", + "tracks3d.npz": "3fec293c6e0a86d617fbf70f7196112c721c4f8d6a04d2d9e2a0a1f6577f4982", + "videos/view0.mp4": "59ed737b6f0599f346c6256d127911544384e669b55a7d68c471398f712df324", + "videos/view1.mp4": "0da0c014d39d2907907b06210355fcd9521c7b36434240fa0224dd2ed8a5aab1", + "videos/view2.mp4": "f0f90d539e9c373afedf62dfc670657082737c3ad332aa51b1b5cd8ecaf91e3c" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006210/source/cameras.json b/Simul-Robot/c001_episode_006210/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1f2e7a946a2ba87c341aa6c1932b49d982d2f6 --- /dev/null +++ b/Simul-Robot/c001_episode_006210/source/cameras.json @@ -0,0 +1,40253 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_006210", + "map": "c001", + "frame_count": 371, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..5455a3a5a43ddd419c12a50a67ede85b11647883 --- /dev/null +++ b/Simul-Robot/c001_episode_006210/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its right hand to pick up a small white cat figurine and a blue-labeled tuna can from a marble counter and places them inside an open magenta plastic crate, near soda cans, a jar, and a cucumber, under bright outdoor daylight on a tiled plaza. diff --git a/Simul-Robot/c001_episode_006210/source/meta.json b/Simul-Robot/c001_episode_006210/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb07c964f7c92794ae716e64b5dcf768397467c --- /dev/null +++ b/Simul-Robot/c001_episode_006210/source/meta.json @@ -0,0 +1,507 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_006210", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_006210", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006210", + "robot_yaw_deg": -76.7393, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 371, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 371, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "white_cat_figurine" + }, + "relay": { + "enabled": true, + "schema": "pnp2.relay/1", + "attempt": 1, + "low_cam": "cam02", + "phases": { + "0": [ + "cam02" + ], + "1": [ + "cam00", + "cam01" + ] + }, + "low_blind_run": [ + 150, + 370 + ], + "low_blind_frames": 221, + "overlap_policy": "adaptive", + "stagger_frames": 70, + "out_frames": 34, + "lead_frames": 18, + "windows": { + "cam00": { + "open_start": 18, + "blind_start": 36, + "blind_end": 69 + }, + "cam01": { + "open_start": 88, + "blind_start": 106, + "blind_end": 139 + } + }, + "budget": { + "cam00": { + "half_deg": 46.5, + "dist_min_cm": 35.97, + "dist_med_cm": 49.12, + "offset_floor_frac": 2.0141, + "slew_cap_deg_per_frame": 3.72, + "open_frames": 18, + "return_frames": 32, + "window_frames": 84 + }, + "cam01": { + "half_deg": 50.25, + "dist_min_cm": 30.31, + "dist_med_cm": 54.66, + "offset_floor_frac": 2.3816, + "slew_cap_deg_per_frame": 4.02, + "open_frames": 18, + "return_frames": 33, + "window_frames": 85 + } + }, + "offsets": { + "cam00": { + "score": 11.130015594842988, + "frac": 2.0141, + "dir_index": 9, + "aim_cm": [ + -14523.246, + 18439.32, + 50.448 + ], + "offset_cm": 167.19, + "offset_deg": 64.772, + "off_rot": [ + -30.417, + -40.8053, + 0.0 + ], + "reached_at": 36 + }, + "cam01": { + "score": 5.881866316372836, + "frac": 2.3816, + "dir_index": 15, + "aim_cm": [ + -14618.993, + 18457.45, + 89.366 + ], + "offset_cm": 102.4, + "offset_deg": 70.75, + "off_rot": [ + -29.2819, + -109.8185, + 0.0 + ], + "reached_at": 106 + } + }, + "sight_sample_points": 32, + "predicted_label": { + "difficulty": "hard", + "hard_k": 2, + "hard_metrics": { + "num_cams": 3, + "frames": 371, + "per_cam_blind_max_frames": [ + 42, + 31, + 221 + ], + "per_cam_blind_run": [ + [ + 33, + 74 + ], + [ + 113, + 143 + ], + [ + 150, + 370 + ] + ], + "per_cam_blind_displacement_cm": [ + 22.969, + 13.249, + 6.635 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 277, + "occluded_frames_per_cam": [ + 0, + 3, + 274 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 1, + "target": "white_cat_figurine" + } + } + } + }, + "seed": 1005103238, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_granite_smooth_aspen_white_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 0.9404, + "az_delta_deg": -2.137, + "elev_delta_deg": 2.235 + }, + "cam01": { + "dist_scale": 0.9495, + "az_delta_deg": -1.727, + "elev_delta_deg": -1.606 + }, + "cam02": { + "dist_scale": 0.999, + "az_delta_deg": -3.217, + "elev_delta_deg": -0.451 + } + }, + "arm_contact_quota": 1 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + "tonemap_auto_exposure_method": "UE_STOCK", + "tonemap_min_ev100": -10.0, + "tonemap_max_ev100": 20.0, + "tonemap_auto_exposure_bias": 0.0 + }, + "enforced": false, + "corrections": { + "settings": [], + "cvars": [] + }, + "scope": "global constant across all clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam01": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam02": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + } + }, + "aa": { + "method": "AAM_NONE", + "spatial_sample_count": 2, + "temporal_sample_count": 1 + }, + "lumen_cvars": [ + "r.Lumen.ScreenProbeGather.DownsampleFactor 8", + "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5" + ], + "scope": "global constant across all clips" + }, + "workspace": { + "table_actor": "table_01_aar", + "top_obb": { + "center_cm": [ + -14616.3467, + 18534.1735, + 99.9971 + ], + "half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "yaw_deg": 13.2606 + }, + "top_z_probe": { + "z_plane": 99.9971, + "plane_n": 9, + "n_rays": 9, + "plane_frac": 1.0, + "plane_spread_cm": 0.0, + "z_min": 99.9971, + "z_max": 99.9971, + "above_plane_cm": [], + "aabb_top_z": 99.9971, + "aabb_minus_ray_cm": 0.0 + }, + "aim": { + "policy": "target_trajectory_midpoint_on_top_plane", + "aim_cm": [ + -14604.6254, + 18568.8937, + 99.9971 + ], + "aim_obb_local": [ + 19.3729, + 31.1059, + 0.0 + ], + "traj_xy_bbox": [ + [ + -14622.542, + 18553.799 + ], + [ + -14586.709, + 18583.988 + ] + ], + "dist_to_obb_center_cm": 36.645 + } + }, + "scene": { + "map": "c001", + "scene_hint": "neutral" + }, + "objects": { + "replay": [ + "blue_tuna_can", + "magenta_plastic_crate", + "white_cat_figurine" + ], + "n_objects": 3, + "primary_object": "white_cat_figurine", + "primary_span_cm": 35.833, + "kinds": { + "blue_tuna_can": "target", + "magenta_plastic_crate": "placer", + "white_cat_figurine": "target" + }, + "targets": [ + "blue_tuna_can", + "white_cat_figurine" + ], + "placers": [ + "magenta_plastic_crate" + ], + "ambiguous": [], + "motion_cm": { + "magenta_plastic_crate": 0.05, + "blue_tuna_can": 25.105, + "white_cat_figurine": 35.833 + }, + "n_distractors": 6, + "arm_contact": [ + "glazed_squirrel_figurine_v1" + ], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "hands_used": [ + "right" + ], + "hand_travel_cm": { + "left": 0.6355, + "right": 39.783 + } + }, + "depth": { + "format": "16-bit PNG, pixel value = centimeters", + "source": "MRQ WorldDepth PP pass, EXR half, cv2 channel index 2 (z-depth)", + "zip_compression": "stored (uncompressed)", + "preview_mp4_is_not_metric": true, + "per_camera": { + "cam01": { + "frames": 371, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 13.102, + "depth_cm_max": 6820.0, + "preview_range_cm": [ + 18.797, + 1544.0 + ] + }, + "cam00": { + "frames": 371, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 23.0, + "depth_cm_max": 3652.0, + "preview_range_cm": [ + 28.875, + 1762.0 + ] + }, + "cam02": { + "frames": 371, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.96183, + "depth_valid_ratio_min": 0.960994, + "invalid_row_centroid": 0.051031, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 30.047, + "depth_cm_max": 64320.0, + "preview_range_cm": [ + 30.375, + 6524.0 + ] + } + } + }, + "milestone": "P2-M1", + "generated": "2026-09-13 20:28:12", + "pending": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006210/source/visibility.json b/Simul-Robot/c001_episode_006210/source/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..147ad4746f624aab878b36676cc407510dacb9e1 --- /dev/null +++ b/Simul-Robot/c001_episode_006210/source/visibility.json @@ -0,0 +1,26278 @@ +{ + "schema": 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"left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses both hands to pick up a red-labeled tomato can, a blue frog-branded soda can, and a small red cube from a sunlit outdoor plaza, carrying each in turn to place them inside a magenta plastic crate beside a breadstick box, near a storefront. The camera is static.", + "view1": "The humanoid robot uses both hands to pick up a red-labeled tomato can, a blue frog-branded soda can, and a small red cube from a sunlit outdoor plaza, carrying each in turn to place them inside a magenta plastic crate beside a breadstick box, near a storefront. The camera is static.", + "view2": "The humanoid robot uses both hands to pick up a red-labeled tomato can, a blue frog-branded soda can, and a small red cube from a sunlit outdoor plaza, carrying each in turn to place them inside a magenta plastic crate beside a breadstick box, near a storefront. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_007400/sample.json b/Simul-Robot/c001_episode_007400/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..b08ff6e74f36c574a16af7624b49cdf468af51fc --- /dev/null +++ b/Simul-Robot/c001_episode_007400/sample.json @@ -0,0 +1,236 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_007400", + "subset": "Simul-Robot", + "id": "c001_episode_007400", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_007400", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_007400", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-14 10:32:24" + }, + "n_views": 3, + "n_frames": 650, + "fps": 20.0, + "duration_s": 32.5, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 7968.2317, + 24389.5561, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -170.6056 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 7968.2317, + 24389.5561, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1536, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 120, + "visible_dropped_by_reason": { + "near_plane": 120, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 1024, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses both hands to pick up a red-labeled tomato can, a blue frog-branded soda can, and a small red cube from a sunlit outdoor plaza, carrying each in turn to place them inside a magenta plastic crate beside a breadstick box, near a storefront.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 3, + "hard_target": "small_red_cube", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 4, + "n_distractors": 4, + "hands_used": [ + "left", + "right" + ], + "primary_object": "small_red_cube", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1198, + "flag_details": { + "caption_both_hands_phrase": "both hands", + "caption_placement_phrase": "place", + "primary_end_speed_mean_m_per_frame": 0.00012, + "primary_end_net_disp_10_frames_m": 0.0002, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0119, + "primary_end_hand_dist_m": 0.2837, + "primary_end_support_dist_m": 0.0025, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_frog_can": 8e-05, + "small_red_cube": 0.40324, + "tomato_can": 0.0001 + }, + "primary_frames_invisible_all_views": 3 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [ + "target_not_visible_in_view_at_ref_frame:view2", + "target_invisible_all_views_some_frames" + ], + "files_sha256": { + "cameras.npz": "0191292f38d059bbbfa46d0c6751269a20ddeca8ed5a2a9c9a903fcef603d1fd", + "captions.json": "7f8dd1c116d3b7bbac7aa23de4c74c1e7eb034009d882216bff63936a99ff2b3", + "depth/depth.zip": "72e07d4b9202dbe87d392707172d74e1b093edac3318f5b55a3e83b2fe40c8c2", + "labels/objects.json": "1c0b1e82e89024382ba548e787620f3231fa8d54f3d79eb5b8f12fb3883366f7", + "labels/visibility_states.json": 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small dark green cube from the marble countertop, lifts it, and carries it into the white stacking bin, setting it down inside near a red apple, blue tomato, pink shell, purple figurine, green can, and baseball, under even indoor lighting.", + "structured": { + "targets": [ + "small_green_cube" + ], + "placers": [ + "yellow_stacking_bin" + ], + "primary_object": "small_green_cube", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "kitchen countertop", + "map": "k001" + }, + "legacy_prompts": { + "view0": "The robot's right hand picks up a small dark green cube from the marble countertop, lifts it, and carries it into the white stacking bin, setting it down inside near a red apple, blue tomato, pink shell, purple figurine, green can, and baseball, under even indoor lighting. The camera is static.", + "view1": "The robot's right hand picks up a small dark green cube from the marble countertop, lifts it, and carries it into the white stacking bin, setting it down inside near a red apple, blue tomato, pink shell, purple figurine, green can, and baseball, under even indoor lighting. The camera is static.", + "view2": "The robot's right hand picks up a small dark green cube from the marble countertop, lifts it, and carries it into the white stacking bin, setting it down inside near a red apple, blue tomato, pink shell, purple figurine, green can, and baseball, under even indoor lighting. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_000100/labels/objects.json b/Simul-Robot/k001_episode_000100/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..332974a32147b18e349910e8bd12a1c96b2e97d5 --- /dev/null +++ b/Simul-Robot/k001_episode_000100/labels/objects.json @@ -0,0 +1,3293 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "k001_episode_000100", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"hands_used": [ + "right" + ], + "hand_travel_cm": { + "left": 0.1769, + "right": 49.4099 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "small_green_cube", + "hard_metrics": { + "num_cams": 3, + "frames": 273, + "per_cam_blind_max_frames": [ + 0, + 13, + 0 + ], + "per_cam_blind_run": [ + null, + [ + 129, + 141 + ], + null + ], + "per_cam_blind_displacement_cm": [ + null, + 9.729, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 13, + "occluded_frames_per_cam": [ + 0, + 13, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "small_green_cube" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_000100/sample.json b/Simul-Robot/k001_episode_000100/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..3b59e7d9ee0b39bb5dd30a4a92f7ae6aa2767328 --- /dev/null +++ b/Simul-Robot/k001_episode_000100/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/k001_episode_000100", + "subset": "Simul-Robot", + "id": "k001_episode_000100", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "k001_episode_000100", + "sequence": "/PickAndPlace/KaistWorldModel/Kitchen_001/LevelSequence/episode_000100", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_001/Kaist_kitchen_001", + "generated": "2026-09-11 22:22:09" + }, + "n_views": 3, + "n_frames": 273, + "fps": 20.0, + "duration_s": 13.65, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 1514.0016, + -928.773, + 109.59 + ], + "table_half_extent_cm": [ + 103.0007, + 48.0015, + 0.0 + ], + "table_yaw_deg_source": -80.0002 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 1514.0016, + -928.773, + 109.59 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Kitchen_001/Kaist_kitchen_001 (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 20000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The robot's right hand picks up a small dark green cube from the marble countertop, lifts it, and carries it into the white stacking bin, setting it down inside near a red apple, blue tomato, pink shell, purple figurine, green can, and baseball, under even indoor lighting.", + "attributes": { + "difficulty": "normal", + "category": "indoor_kitchen", + "map": "k001", + "scene": "indoor_kitchen", + "scene_hint": "kitchen countertop", + "hard_k": 1, + "hard_target": "small_green_cube", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 8, + "hands_used": [ + "right" + ], + "primary_object": "small_green_cube", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 896, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it into", + "primary_end_speed_mean_m_per_frame": 2e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0069, + "primary_end_hand_dist_m": 0.2071, + "primary_end_support_dist_m": 0.0004, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "small_green_cube": 0.3657 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "44b65fc0b30449093f0479b5e957991a8faeffd18fccc1d996d26a9be9e2bfae", + "captions.json": "964f7b9f741690434a5b02743d0536c0237917d02aa5275660d99d01d7292351", + "depth/depth.zip": "7b36ac6c7e1e126a532faeb7486cf3924c93719977e469463451208431844258", + "labels/objects.json": "ec818f04892a8925a64709c82d0ec0870b080e36902913e490facb2f822c304f", + "labels/visibility_states.json": "f635da5286a9db2cdf6ceed81d16d6227841ea967486a4665164d4d1c4811b0c", + "source/cameras.json": "38e85cc74cb2b384b2dba1f084b3dad4b652a9d24f9e1c2e5254a69c48966fff", + "source/caption.txt": "22619b1faf09e073712306571e63fed2ebace4a581e2fca547f726eba3b16d8d", + "source/meta.json": "f219954afd5d8545226738f846ed7b95f8b3a88b850b3a341a79d3dfc742dbaa", + "source/points_target.npz": "432704df071c2a56692c2e86b0604eaeb53bf6a16fe54e38afdb16ff71d4dd45", + "source/visibility.json": "6aed880c924348df2bd5dd8c33e660ff160539a2022f55a2c5096b2cabdd4326", + "tracks3d.npz": "ded801f7e58c7f1f864b2fc260f218e5df5ab6ff0ac0fdf4c277258eb29333f5", + "videos/view0.mp4": "7fd0de85ef3c997fbd0406aa6dd3d1a3058382204952ffa529bb467babec3a0d", + "videos/view1.mp4": "6af098fc47498b301a61b8fa90f6f877ab3dbc741dc28f9fa22e5771b7141622", + "videos/view2.mp4": "0f1625380f08a164ee37cae7d3a2c1f48ba268bd38552bdfa5898f7ccac1cc52" + } +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_000100/source/cameras.json b/Simul-Robot/k001_episode_000100/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..c456ad5bfcd6a11b51d1d5eab89f9d3cc5321670 --- /dev/null +++ b/Simul-Robot/k001_episode_000100/source/cameras.json @@ -0,0 +1,29669 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "k001_episode_000100", + "map": "k001", + "frame_count": 273, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0.0, + 0.0, + 1.0 + ] + ] + } + } +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_000100/source/caption.txt b/Simul-Robot/k001_episode_000100/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..cdf301ae629c5f5dd579a325b7903bcd783d90e2 --- /dev/null +++ b/Simul-Robot/k001_episode_000100/source/caption.txt @@ -0,0 +1 @@ +The robot's right hand picks up a small dark green cube from the marble countertop, lifts it, and carries it into the white stacking bin, setting it down inside near a red apple, blue tomato, pink shell, purple figurine, green can, and baseball, under even indoor lighting. diff --git a/Simul-Robot/k001_episode_000100/source/meta.json b/Simul-Robot/k001_episode_000100/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2507dbafd587d22b5e5c2ea2736a547f53dc2a2f --- /dev/null +++ b/Simul-Robot/k001_episode_000100/source/meta.json @@ -0,0 +1,374 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "k001_episode_000100", + "map": "k001", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_001/Kaist_kitchen_001", + "sequence": "episode_000100", + "source_sequence": "/PickAndPlace/KaistWorldModel/Kitchen_001/LevelSequence/episode_000100", + "robot_yaw_deg": 10.0, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 273, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 13, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam02'] 의 비가시 구간 타겟 변위 [None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 13f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 273, + "per_cam_blind_max_frames": [ + 0, + 13, + 0 + ], + "per_cam_blind_run": [ + null, + [ + 129, + 141 + ], + null + ], + "per_cam_blind_displacement_cm": [ + null, + 9.729, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 13, + "occluded_frames_per_cam": [ + 0, + 13, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "small_green_cube" + }, + "relay": null + }, + "seed": 115219761, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": { + "PNPKey_Work": "key", + "PNPGrid_05": "fill", + "PNPGrid_08": "fill", + "PNPGrid_09": "fill", + "PNPGrid_06": "fill", + "SpotLight4": "fill", + "SpotLight3": "fill", + "SpotLight2": "fill", + "PNPGrid_07": "fill" + }, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_marble_rough_bianco_venato_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0517, + "az_delta_deg": 0.194, + "elev_delta_deg": -2.654 + }, + "cam01": { + "dist_scale": 1.0451, + "az_delta_deg": 3.644, + "elev_delta_deg": 1.401 + }, + "cam02": { + "dist_scale": 0.943, + "az_delta_deg": -0.312, + "elev_delta_deg": 0.43 + } + }, + "arm_contact_quota": 0 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + 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0000000000000000000000000000000000000000..f5d2e4f8a755ccb166e0ed3e6fce70cbd37187b9 --- /dev/null +++ b/Simul-Robot/k001_episode_000100/source/visibility.json @@ -0,0 +1,13807 @@ +{ + "schema": "pnp2.visibility/1", + "clip_id": "k001_episode_000100", + "map": "k001", + "fps": 20.0, + "frame_count": 273, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "cameras_moving": [ + false, + false, + false + ], + "targets": [ + { + "id": "small_green_cube", + "asset": "/PSLAssetLibrary/small_green_cube/StaticMeshes/green_block.green_block", + "kind": "target", + "is_primary": true + }, + { + "id": "yellow_stacking_bin", + "asset": "/PSLAssetLibrary/yellow_stacking_bin/StaticMeshes/bin_a02.bin_a02", + "kind": "placer" + } + ], + "states": [ + "visible", + "occluded", + "out_of_frustum", + "not_spawned" + ], + "states_rule": { + "occluded_visible_frac_max": 0.1, + "denominator": "points inside frustum", + "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다." + }, 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