diff --git a/Real-General/C001/sample.json b/Real-General/C001/sample.json
index 101dd3bfcd196347aecb9b7d5b5194e6b0027a4b..022306fc180d669027131a3072d14d2bfdcee5f9 100644
--- a/Real-General/C001/sample.json
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index 0a2ff52a09540e4739d2c9d679f3c4126e9d4b62..c520cb784428338dd08d63c908a0732ccecebcf8 100644
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@@ -2646,7 +2646,7 @@
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-  "_table": "calib/loo_black/C001.json"
+  "_table": "leave-one-clip-out calibration table for C001 (not released)"
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diff --git a/Real-General/C002/sample.json b/Real-General/C002/sample.json
index 7773fb036350b05810c2bcefca44296fbbb0ad45..41b002e0dd234fdd3061648fa60aae6fd24a4fba 100644
--- a/Real-General/C002/sample.json
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index 846684bf1226f8e43110c87f3e63ba2f1af72064..bb3bc3df973c66cf9e4f53797ecb2424fb6c89de 100644
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+++ b/Real-General/C002/source/wholebody_meta.json
@@ -2320,7 +2320,7 @@
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-  "_table": "calib/loo_black/C002.json"
+  "_table": "leave-one-clip-out calibration table for C002 (not released)"
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index ad094f8b928d68337ff426379eeff0104625d277..b63620fe82fb25f11f86fda9d61020e5add96cb6 100644
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index f19c0f1fe753d3344de41c9d9fb6e294295add7b..c63f2a39bee75e41b883e0f6dd0bc560983b5d75 100644
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+++ b/Real-General/C003/source/wholebody_meta.json
@@ -2438,7 +2438,7 @@
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-  "_table": "calib/loo_black/C003.json"
+  "_table": "leave-one-clip-out calibration table for C003 (not released)"
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diff --git a/Real-General/C004/sample.json b/Real-General/C004/sample.json
index c3964798504b5e17d97489b0ca9bfccc076307bb..dc2bceb17243ece15a85f1a30e80e1fbbef1fd56 100644
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index 05f3f2275251fdba5b3ec7ffe1428040db5f443b..4130e530defe213c9a35b99a34c771e261b5f64a 100644
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@@ -2654,7 +2654,7 @@
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-  "_table": "calib/loo_black/C004.json"
+  "_table": "leave-one-clip-out calibration table for C004 (not released)"
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index fa0369fb06bd7ae0049e774672c4da361e1c0e6a..cd0b91ad44943928a1af42649ac0bbb044812b0e 100644
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+  "_table": "leave-one-clip-out calibration table for C005 (not released)"
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   "labels/motion_events.json": "ecf948d81db751c38440c7c2d23b5d5e7ffd79286b20589926b06060410d6744",
   "source/bench_views.json": "efa71708650981152d1ffd9f177cc1dc4034efe8ee5ee1d0327162aab9dbd954",
@@ -363,7 +363,7 @@
   "source/timestamps/22645025.json": "fd1bb3a1c65700d4de4248a8c79632895da06d030a6bdb6e314bd629ba93f531",
   "source/timestamps/22684751.json": "53316181e9bd7d15395eee1e43a1ab1c9a227a287683a2a8edfbd60cf87fb76a",
   "source/video_manifest.json": "1a5154207d6283485b035d1292e744bc0a68a967e1ea80ea0c6c617ddbda3da2",
-  "source/wholebody_meta.json": "74417485608d1df69b93e3cdcd6ae228e6c06c5326e09960417cb270025eb27f",
+  "source/wholebody_meta.json": "65e83773625090f5c7a451ed6f184368b8d48f1ad9db6cfeb6649ffce1d2d4dd",
   "source/wholebody_qa.json": "8830d255b66ba7631fe817e0d4e76697659da66565ef654e6e0411751e3a2ea3",
   "source/wholebody_run_clip.json": "91ced320d7413cb97e9bbff2ff5e38d51941f2c7db1b02fab52f3f2282f68324",
   "source/wholebody_tracks_extras.npz": "de6ca9524d8a6f51c9f9c0f34dd779a9790f11ae83a1d23b40f4e474dfb4ed18",
diff --git a/Real-General/C006/source/wholebody_meta.json b/Real-General/C006/source/wholebody_meta.json
index 12107f069df1f67cb3488f551f08a8b0a16e46c9..493cdfbfb22d03e78de52eda17185396004cce13 100644
--- a/Real-General/C006/source/wholebody_meta.json
+++ b/Real-General/C006/source/wholebody_meta.json
@@ -2665,7 +2665,7 @@
    "sec": 1.0
   },
   "_sum_sec": 484.0,
-  "_table": "calib/loo_black/C006.json"
+  "_table": "leave-one-clip-out calibration table for C006 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C007/sample.json b/Real-General/C007/sample.json
index 5d0916d18e495b27c79fb1ee8a78663598196373..06b1640515f96cff57751264d471fb126d3528b5 100644
--- a/Real-General/C007/sample.json
+++ b/Real-General/C007/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "6cb0a3682d63ba74ad4a5ce238dbedc6b07ae85921fd2b3f3447d3422f457730",
   "captions.json": "bc08436d830390975dfadf9512d14a9bfb9688fff805d078b8a2c84a965a8926",
   "depth/depth.zip": "cc43aaacc4e14e612ee39eb0fdfc9b8051a5cf7aeb3e4ca0c52ac0c39fe870c0",
-  "labels/human/keypoints2d.npz": "d1b9f0456271ba6558c704887aea46a827e36e1ab3b0861354d7f523cc40511e",
+  "labels/human/keypoints2d.npz": "b57028edc155e18dd0f284df8866490e880069a69bd26a88bf5ebc5aa5f31e68",
   "labels/human/keypoints3d.npz": "6e694080252c7a639117154dc49473a387f41683ac22763a43f80f5809ab4df4",
-  "labels/human/masks.npz": "cd13848b8e6cb97bb91cce6fa18b02a634afb229e244c6ba74ecc43985deffdd",
+  "labels/human/masks.npz": "4089a89ed2a7163e780e88189821903a5463785aacbb78d1eb04402bcf10cbdf",
   "labels/human/mhr_fit.npz": "a2e85154f790edb6939a5038678fe11978ffd3c9dd5c8fdd1bd96f9d47aa3904",
   "labels/motion_events.json": "c294f85beb7bec0d9732fa294d30aec39628902e660a379e3c54cedef7e06caf",
   "source/bench_views.json": "08098e31b740178a7291d56abe1a47a3984a82cc5d466d4d8850ac9575b0e3a7",
@@ -364,7 +364,7 @@
   "source/timestamps/22684221.json": "b69de768eb9598941fd3d4c258a2e292c5f9c7c251a0074a5d8a140467e4d4da",
   "source/timestamps/22684259.json": "4ca81526a968c7c2c88dcf225827268b22c00caaa67a421f86fc8781feb583dd",
   "source/video_manifest.json": "295abe9de00f80ba1511713db1859f0297f67b6b8cbca6101a72ce252077b980",
-  "source/wholebody_meta.json": "993f17d7700a0d007c81a79a3b8faaab7546d995378306b82723e6f61f8ecaed",
+  "source/wholebody_meta.json": "6b8585ee1fc11bf5bbf4b6246f30da6a3841f58737e98c725d73c2dd3639b38a",
   "source/wholebody_qa.json": "fda44ea1567dea5571456960af03ef5d0956681d4cfb9497c1cccac374ddc520",
   "source/wholebody_run_clip.json": "089f5feb14b59df482cf04d06fc10afb3f0e7d5351ae7a02ab51cb69f8500da1",
   "source/wholebody_tracks_extras.npz": "7bbd93939d5f508d6092ca2cfa6ecd4728c2e0861982f1ca9a80a36dfe2a19fe",
diff --git a/Real-General/C007/source/wholebody_meta.json b/Real-General/C007/source/wholebody_meta.json
index 78184fdd211f1f6ef86de1966b634fc0a9497c4a..fb5be94db01c4978760b89a39f0ce111cf859452 100644
--- a/Real-General/C007/source/wholebody_meta.json
+++ b/Real-General/C007/source/wholebody_meta.json
@@ -2594,7 +2594,7 @@
    "sec": 0.8
   },
   "_sum_sec": 501.2,
-  "_table": "calib/loo_black/C007.json"
+  "_table": "leave-one-clip-out calibration table for C007 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C008/sample.json b/Real-General/C008/sample.json
index e2aae33fbdaeb32e8f59911f08fc54a5b472a66f..c7f535d19a04f21a2f33626cd62545cd74b85d28 100644
--- a/Real-General/C008/sample.json
+++ b/Real-General/C008/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "7bda24f5260babd4b557ba810c21bbcd66114090ef32bb88bf1df70fb050aac1",
   "captions.json": "395243abae9a222c970bf2f0ba5307f056de50a5f1cba7c5bb520ed10c730cd6",
   "depth/depth.zip": "88a1d68e0852ac40a8dfa5055b2ad7d50aa7cccf96928b81e0ae14c0fd75a1a7",
-  "labels/human/keypoints2d.npz": "209cf155630de6d21216839ec416bc85febd49432e23073bf6ee06d353a231b4",
+  "labels/human/keypoints2d.npz": "a3fb6669be786efb3257366e039d227e0e07bd547b03b775d76089bd8d0d7a44",
   "labels/human/keypoints3d.npz": "1a919b108ff9f3da6be9f2399f6ced7f6ba3d9c7238c0d65ddcdcb32bd79c279",
-  "labels/human/masks.npz": "9548e33922d45a75303a9c9e442b70dca826e48deabc9a6d60cad26da6f778ac",
+  "labels/human/masks.npz": "52822882273bd98579dab427a07139b3bfde1deb5cf6d035fcd79a2d1dc68ae7",
   "labels/human/mhr_fit.npz": "ec85aa39e43912777add7165ee3b9eef1bd3c39e74192c07d3d83a9dca357279",
   "labels/motion_events.json": "fb13ff5adf90aa50deab0938ff0fd1460af9c6de6f5b25e3b2e4f352ea7acd5f",
   "source/bench_views.json": "7da0f942d6a19a24436ddea30a7f14eaca482f0a31dbaa2623a8a7e60f48d3bb",
@@ -362,7 +362,7 @@
   "source/timestamps/22684259.json": "3de35e16f894ab34ab009d491e824862cf2536518dc3a8812e7f4858fe46ca6f",
   "source/timestamps/22684751.json": "c28ef4b61fd532fcf17bf784ac10a23895fd3ec297583816b9bdc2dc34ba79d9",
   "source/video_manifest.json": "c65975c5c4f79ed0f1ba4f3885e915a6d46c2e2bb9e7587332795cd01198cde7",
-  "source/wholebody_meta.json": "9f9f19e02090a0674ea515b29399d3bbda60ead75d51223c588a88b38d273953",
+  "source/wholebody_meta.json": "dcf946d4432ba46725c6e9ed542c4be5968471b9e01ddccb251494c6b1ee6127",
   "source/wholebody_qa.json": "5b5dc58dd0bf036a2cbc3b4551561486a9647352b6a1eb4071852c21f95ba147",
   "source/wholebody_run_clip.json": "2b98e25f14560c7786014e198af458c0d0cceb23718e82a46de3a0ed9e10f5fd",
   "source/wholebody_tracks_extras.npz": "1061d67ae0c64be764224e66fe39c4cbb1fb0cc06cc7b335e50e3ffe7ad65a60",
diff --git a/Real-General/C008/source/wholebody_meta.json b/Real-General/C008/source/wholebody_meta.json
index d3ebb162d5affebc621ae0dac4036891bba2ae23..2d86bae37625386ab7bf192a9aeecb093ac88260 100644
--- a/Real-General/C008/source/wholebody_meta.json
+++ b/Real-General/C008/source/wholebody_meta.json
@@ -2696,7 +2696,7 @@
    "sec": 0.8
   },
   "_sum_sec": 499.0,
-  "_table": "calib/loo_black/C008.json"
+  "_table": "leave-one-clip-out calibration table for C008 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C009/sample.json b/Real-General/C009/sample.json
index 3b6e6016590090d85abd7f82f1f3dccce4924ea7..793ca2f6df3dc619712da0bd7617768000298814 100644
--- a/Real-General/C009/sample.json
+++ b/Real-General/C009/sample.json
@@ -349,9 +349,9 @@
   "cameras.npz": "15f9aae295b024c71691ce399089b5a7436fc10c9082460202b6304b4c1aeb01",
   "captions.json": "81d066b95c055c9ba0536ed32a1234f838fc0ac16364146aa540a4ddf7cc6a39",
   "depth/depth.zip": "f1bb67769e602706dc48da4b8ec5883959fb02c9d5bd81f07eb7186d58cadafa",
-  "labels/human/keypoints2d.npz": "c38df9ebb0fec42224beec3ea0d53e8e3bfb98713a06d6cace072c9fcf5196af",
+  "labels/human/keypoints2d.npz": "31e2eae9119552678e1b0d5f19c2b48fd7a9488fd4bdddc62bba42690280ba28",
   "labels/human/keypoints3d.npz": "deda67f5ad7dc9325558bbe7a0bdcbaca4c6688b4a3ad3a0e7460e2fe7da95b0",
-  "labels/human/masks.npz": "03dd8b86b33efd77833283f7f4dd238361c008d680d0079fb3e9bd1ba90a087b",
+  "labels/human/masks.npz": "8f4f8b008fc1de778f35fc0564e2939ba8558b81b0ea865aea9dd9617349fa05",
   "labels/human/mhr_fit.npz": "5ad1bb0ee81c7ac208a813eb63616d791e4942d1fd5fb6271e4fd8c96818c1ed",
   "labels/motion_events.json": "971aea78080e4f460e0f977e20769f1d740b4558e369d96873cb8d542725636c",
   "source/bench_views.json": "55b0bd0de747fb732612c84221bb850a7d3af896d1a411c74c3529d91bf3d2ee",
@@ -371,7 +371,7 @@
   "source/timestamps/22684259.json": "f36f6624740576221f9b46477c475f2a9d732ee38181fdd6e3e7f15319b86ab5",
   "source/timestamps/23012634.json": "47a50c6fb60ec816f595b495c74fac31f82d25d3c751ce8aa98d0f951f95d1e1",
   "source/video_manifest.json": "0285d9911658e5a64f6ecb2721743bf46d8cda151d3268f3e7f35125237b1c3f",
-  "source/wholebody_meta.json": "994ccc938045ecbfc1e1fdc960e03a1a487fb65c51b2d52250a2e577dbc28a40",
+  "source/wholebody_meta.json": "d56e28b3f47b91a8277060bd308d742e0f7ff67c0a35fcb58c34e322a04e670f",
   "source/wholebody_qa.json": "fca45de63d4f46642c37a450010ae905e51e41cbf84edb3df59666544ab3ff66",
   "source/wholebody_run_clip.json": "7d05a3b4ec4e30bc3c523d22969973db577ac9e2645431f1161e54475f82586e",
   "source/wholebody_tracks_extras.npz": "1a9f8236145822fda03f6342e02bc5d0b339a7e3d224e7cc48381b718bb0c1ac",
diff --git a/Real-General/C009/source/wholebody_meta.json b/Real-General/C009/source/wholebody_meta.json
index 50488df26eaf817559d8c41f0f8a894413341eec..8967f27fc6eb1fd2d43ae176b85d42af60a4cb5d 100644
--- a/Real-General/C009/source/wholebody_meta.json
+++ b/Real-General/C009/source/wholebody_meta.json
@@ -2608,7 +2608,7 @@
    "sec": 1.0
   },
   "_sum_sec": 536.1,
-  "_table": "calib/loo_black/C009.json"
+  "_table": "leave-one-clip-out calibration table for C009 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C010/sample.json b/Real-General/C010/sample.json
index b72891c8eb7443278a1f5d70e1f73c7f83f61b36..d5547b0f6b1c80dca9b730902baede6d45562a26 100644
--- a/Real-General/C010/sample.json
+++ b/Real-General/C010/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "c77816943df2aa5c96ca5d491fb3c53b2f392b07771cbae9dd4d0f4b3c0c974c",
   "captions.json": "cec30b589b47792b3890c256bb85dd2bd8d50f3ca3e6c37b745e54a92cf9a2d4",
   "depth/depth.zip": "d44082ef817b84ccd6a395b0c46995e56e4e9bd266ac05241ae13ba8ccb39c65",
-  "labels/human/keypoints2d.npz": "be52222e3e41119819485675acb499b952bc95ee50b152b06c64398c709f51a4",
+  "labels/human/keypoints2d.npz": "1eb112ce7cd12b163f94fe5fbac9e36ceaf910494717d2350c9ac008eefc857d",
   "labels/human/keypoints3d.npz": "1a0852b5e2324815f46139589fca2abb90c42b71f3dfa38294c73d6cff6a80d0",
-  "labels/human/masks.npz": "4fb0f6f43ede7892f66ff8c05c3306f4e29f09731bfae4298d1cdca0eb568086",
+  "labels/human/masks.npz": "35e522fffe43489a0703a649e719978299f2ee061877570c5beceb43e5586dbe",
   "labels/human/mhr_fit.npz": "d22a650914fe4fb6d86a6aed57ce603b770372069bbec850dcbeb9c1f1ca8bb2",
   "labels/motion_events.json": "e6e6dec1ebc091a4b24790bb5880e4393e37da5592cbf4051ac2a4c676c88254",
   "source/bench_views.json": "794c4f294096cb1461a65d20c9c244ae04b9010a17127feefd095a3386b04fe5",
@@ -362,7 +362,7 @@
   "source/timestamps/22684259.json": "ce6af38e810fb3056abbe1e1c78c9b4f7a75bf9fafb9d1aa78c2a2a5b40542e1",
   "source/timestamps/22684751.json": "0301d3e86af3670dea83889639e9d2ad2d6f7723be86dd62e518c5bc33867b6d",
   "source/video_manifest.json": "7e1f68423c5ffaed7cd78ad8fe8ba57c963090b625a795fa508b00b475d8021b",
-  "source/wholebody_meta.json": "acd70210ab84afeaabda7398a1e41df63a3b37289e73e9628c8adf9227ec60f1",
+  "source/wholebody_meta.json": "959ed3657b9e8f5c126fc742256d4e32fd3400e68266358b1856846ac79f6e7f",
   "source/wholebody_qa.json": "269efc52e0ac1cb288bc7ee5a9ed85d35feab898833f8813ffeffc5c53fd40e0",
   "source/wholebody_run_clip.json": "9ca1de1f2cdb26042139dce075046b00761b0e256174fb0d47355dc2437204e4",
   "source/wholebody_tracks_extras.npz": "e2f9da8322d93523e6973973352de4ea23b52f4dedfef6f457570989d931b390",
diff --git a/Real-General/C010/source/wholebody_meta.json b/Real-General/C010/source/wholebody_meta.json
index 7f8d0ea04de4c70718bcf8ab51cbbe9bee282093..3cc71246c97d163c99b061f0fb96b2071b98b2c9 100644
--- a/Real-General/C010/source/wholebody_meta.json
+++ b/Real-General/C010/source/wholebody_meta.json
@@ -2418,7 +2418,7 @@
    "sec": 1.3
   },
   "_sum_sec": 503.9,
-  "_table": "calib/loo_black/C010.json"
+  "_table": "leave-one-clip-out calibration table for C010 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C011/sample.json b/Real-General/C011/sample.json
index 8da7d72c25818ee9a65f0196d9ac0009a354b7a9..0c3e1c06c6841a588a7f5f8e4b24a24a721bbbe5 100644
--- a/Real-General/C011/sample.json
+++ b/Real-General/C011/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "3cce99fdd01a1031b8a40eb728fdc9edb55841194ee0b0cdbbb8f35739617b9b",
   "captions.json": "46bf490f894da70b57a4e78f546e21845b2897a219cc4aa56d2a39b46dc9b1d0",
   "depth/depth.zip": "e88932cdb409af29da5896587d2290ef1ffb12c739582fbed7f72a33364a621a",
-  "labels/human/keypoints2d.npz": "c556bf066495ab468b948f310d44416dfb92fd7576bf350e3f0a3b934376f403",
+  "labels/human/keypoints2d.npz": "83810e2556572c4351ff1fc84e03ee14c5d61504c0f363a4a2052936b749e00b",
   "labels/human/keypoints3d.npz": "bd2656a9f58ab859875bb7352e7ffe856c137bb06652154c675c62696efb68cf",
-  "labels/human/masks.npz": "b9268cc10e405335ffe0c5ab0b4a0e6b528e242b8e8827623f7b4c41f7878946",
+  "labels/human/masks.npz": "fdb2077d5e6874b01c50ecadd99ddf7f1102cf14b1e356c706a89366227ab043",
   "labels/human/mhr_fit.npz": "f0993aabad684ba7ddd15624c2c74e4342079c1bc1ca55347ebe3d3b2178435b",
   "labels/motion_events.json": "4b21d1f143445ce2813c805f5f24e5a973f124428092b7f9cca69e3a08eafc38",
   "source/bench_views.json": "8c61e3bb0c25323d644ac66809e1cbd35ecc04b40da7a99837d5ab2d03f1fb58",
@@ -362,7 +362,7 @@
   "source/timestamps/22684751.json": "66a7afa3bc4b734e52d69ece25aaefed5b6db87ded4f7679568502fde32db06e",
   "source/timestamps/23022627.json": "ca38ddfabaf9d5b64584517384c5038a633b0b2e963c6310cdcf0c973251b3a2",
   "source/video_manifest.json": "a29a49d1cf6e67167c55fa06360200aacd78cfcbafa79b29e28dc9e14b0257df",
-  "source/wholebody_meta.json": "ef646bf77fe37a917dc2729a44f942793dd0a4dfb6f2d009eba18275dbcbacad",
+  "source/wholebody_meta.json": "006987d9c5b83021258292a3619648da84e8b14bd625219fffe26fb7c2ae9edd",
   "source/wholebody_qa.json": "bfa97cc9615564d9a48cd4a9fd020c63d6e2a1bc4b1833bd4a490283479d41b0",
   "source/wholebody_run_clip.json": "a9cf1812de68e08afb1de3bc9ab4103c3c66096c0035cc10c3429ad44e15e2f9",
   "source/wholebody_tracks_extras.npz": "9698195a28302596476bb7359b2239d1bbff35f8f48465c143ea2104fb2328ee",
diff --git a/Real-General/C011/source/wholebody_meta.json b/Real-General/C011/source/wholebody_meta.json
index 2706fcdb8da504d6540d9705bd0692f7d1a16178..e7308b182ca991c27f51266c28e27f65b07de27f 100644
--- a/Real-General/C011/source/wholebody_meta.json
+++ b/Real-General/C011/source/wholebody_meta.json
@@ -2513,7 +2513,7 @@
    "sec": 0.7
   },
   "_sum_sec": 522.3,
-  "_table": "calib/loo_black/C011.json"
+  "_table": "leave-one-clip-out calibration table for C011 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C012/sample.json b/Real-General/C012/sample.json
index 847c67b0e4777c85ddf28979261a11b380c74d5e..556c3720fcf74b2bfdfbf00cc20a142fba3ecd74 100644
--- a/Real-General/C012/sample.json
+++ b/Real-General/C012/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "79cff19f57d80a6465781355efd7b8e05772f4326a16e20b66722c6aa55e5c88",
   "captions.json": "8ba27d9ad652bcae009a26880a729fde74b017d259e878e128fb49966f9ba714",
   "depth/depth.zip": "af48598e516dec8161be76d599db3f3493bbdf7c0e2d3e30ca07dcfef6a43cad",
-  "labels/human/keypoints2d.npz": "eb44d8be740f4f32bfc5cb8b6df5f73eeff67f795de484bd73d9d5904200c56f",
+  "labels/human/keypoints2d.npz": "60e50bef7c7047568d449ecb2e22f210acabacdfe96206ec44f175514c83e0af",
   "labels/human/keypoints3d.npz": "d52db6dcc16fed9e72f658b5126ea437915f28a3cbe0109eee04c9e2ac710210",
-  "labels/human/masks.npz": "f0913b37db6798ea00ec378f34d9e0ea95e2bd7b1931bdbdeee37363c6d79813",
+  "labels/human/masks.npz": "a57662f9768325f152db2a351c27948ed010a9e9b1b513dc341b9efea87093dd",
   "labels/human/mhr_fit.npz": "e8bcb17e8c6c088fc3eaad33b8e6e2e28a12a28e1ff0a4388d5e08adeb4b73b5",
   "labels/motion_events.json": "befbf176270d8d6e368971afb5340d0f2493bb88d98031ef4e46f60519d88f2d",
   "source/bench_views.json": "8afe8ccd945afdb0f5383416d4069c6a8f6a778f066fc52815bb90da47a3c1ed",
@@ -362,7 +362,7 @@
   "source/timestamps/22684259.json": "55b9100fc2d540cc7b0e69cad131787a7f6cfb9f95c5845ffbdc74902a8eebff",
   "source/timestamps/22684751.json": "f405c64226bfed169b297494333c30744697ebf0f2a783e7dba3ceecec85275b",
   "source/video_manifest.json": "6884095f2215cf1412bfc437690e983269bae1d5ecdbe1a60358496b19992ed1",
-  "source/wholebody_meta.json": "d5f612e15598eecc906821f07b7171dc235dff23666b9613b42ff748d302bc16",
+  "source/wholebody_meta.json": "8241390c456c7425006fbcc9021ab106393c4dcd4519b36e2f0d14305e156cda",
   "source/wholebody_qa.json": "f2ad4c1fd89734dc21c891c419fb740b8c332fbb303f0913d1dcab0bfcd8fd56",
   "source/wholebody_run_clip.json": "e113029ac198f48770eedbd939ac2c61d3bddd275335e531d815eab9f46b9ce3",
   "source/wholebody_tracks_extras.npz": "83ff137d8b5a1663e696348fa3beb2e3b086cbc5bc029d3fba9e07fbfed60034",
diff --git a/Real-General/C012/source/wholebody_meta.json b/Real-General/C012/source/wholebody_meta.json
index bdbba0c93ce434ec9f48737e2cac87173959df67..79fa126b5b3d7d97b5372500cf99dd5470bf9529 100644
--- a/Real-General/C012/source/wholebody_meta.json
+++ b/Real-General/C012/source/wholebody_meta.json
@@ -2356,7 +2356,7 @@
    "sec": 1.0
   },
   "_sum_sec": 488.0,
-  "_table": "calib/loo_black/C012.json"
+  "_table": "leave-one-clip-out calibration table for C012 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C013/sample.json b/Real-General/C013/sample.json
index 5a7b6920449ec0e6884373c2181e13231692fd51..64fe6ac22336f6057a0efb20d0c328cbbf975770 100644
--- a/Real-General/C013/sample.json
+++ b/Real-General/C013/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "b39455b9562a73f243e406a269eda86fd3d42debd0db49ef523e914cb3a14c4e",
   "captions.json": "bcad504b97762da632fe0ce1e9718eb3006b2b654e1a9eec313adecdfe4a7004",
   "depth/depth.zip": "c6d93a58f8e0da44f98aafdf5218e3c89023358f71ca72f132fd045fa0df26b6",
-  "labels/human/keypoints2d.npz": "8e928054199bf9e7a9aebad441cd3d5344eec31a4e95a800178431803d3666bf",
+  "labels/human/keypoints2d.npz": "3462856a8091d237e760f7c348b8e36d727bc923363371112a80f7e801725506",
   "labels/human/keypoints3d.npz": "dde6bf715e9cba6257a789e72fbfa28952d20e8968a4a7baccd4548b2942de9b",
-  "labels/human/masks.npz": "35701800ebbe7298e16a4a26ea1152914102f6d5f8469fd6ed4212261b04c47c",
+  "labels/human/masks.npz": "7a38a08efdcc66d74623ccc65d11c35abe3e5f349d9bfe9fd589b81b7bcfcfee",
   "labels/human/mhr_fit.npz": "134a93340dc33244faeb352915569f5e00d89cae01b2a63d5b65dd9d70cdac8f",
   "labels/motion_events.json": "bc538b0ad274323914366654035a3e51ebd8a03a99aa356465e5ec8b5cb022c2",
   "source/bench_views.json": "d1cbf17c684454b5c6cf9087fe6c75a54bc606d2adb93a090fa9ef6b091b044f",
@@ -363,7 +363,7 @@
   "source/timestamps/22684259.json": "f809c66e9880ddd0d4672cc9cdbf8483b636cdcbc709c08f5ae5244a37b7539b",
   "source/timestamps/22684751.json": "44526dcb882a1571fc528c319b6129142d3f7bd229859a31fb2bbdb9ce1d8917",
   "source/video_manifest.json": "5d7cbae3a62b14716ea72db3fb0d846e6e58d758fc79f1f0e2db3a4a9611cec3",
-  "source/wholebody_meta.json": "191782b520f69df4b30621af884b9aee8a95fa1ed66a53f4078e847b5d04e70e",
+  "source/wholebody_meta.json": "affd4a388d6fe0d722c3054cd3be5539aa4915125f03ffdc6cfcceb2943912f7",
   "source/wholebody_qa.json": "0e9c86dddead136212e186eb0581f21b62181e1df9af77a6a95c824c9a0e6c38",
   "source/wholebody_run_clip.json": "cc139ed3086696e6ae8a0338859884fbdb67a6a60e7d89670b7de3e04dad2e1e",
   "source/wholebody_tracks_extras.npz": "8d6f499033bc6d4d9c13e5538d0b88aba13db7a952070102a4e6d937fbf03c0a",
diff --git a/Real-General/C013/source/wholebody_meta.json b/Real-General/C013/source/wholebody_meta.json
index 30b0a4361aa58e8e57464ad8267136bb81311814..653925b4c1e35e614365f459d439bba9ee2bb119 100644
--- a/Real-General/C013/source/wholebody_meta.json
+++ b/Real-General/C013/source/wholebody_meta.json
@@ -2462,7 +2462,7 @@
    "sec": 1.1
   },
   "_sum_sec": 466.9,
-  "_table": "calib/loo_black/C013.json"
+  "_table": "leave-one-clip-out calibration table for C013 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C014/sample.json b/Real-General/C014/sample.json
index a00d5b77ff081ae29e8db89059167662b800d922..1a4a5f4fb052578f1de81a2bb356f9c1bc51ca2b 100644
--- a/Real-General/C014/sample.json
+++ b/Real-General/C014/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "79cff19f57d80a6465781355efd7b8e05772f4326a16e20b66722c6aa55e5c88",
   "captions.json": "1eabe18872b2c3e1ac0c37b99da5d1bc3ac1154feabd03e984303cfccfa44282",
   "depth/depth.zip": "efc454341e9189b987b4ede7478e4270363bb52ff209dc71d6735704f2f273e8",
-  "labels/human/keypoints2d.npz": "1c2158ee9806401a89631d60354b7f898a4e9ca16df2c26ca5513561d1b250d8",
+  "labels/human/keypoints2d.npz": "7f55490c672d47bda8038b3370fcdd739df490ff3a5595c0f11f32d27182e370",
   "labels/human/keypoints3d.npz": "0c81d4dffe160b7ef77da39ed2e011c32fb6b918b2fb3e0952a5cc941d7c9af7",
-  "labels/human/masks.npz": "fad0c2b4da8f00c4cc440bbe15db4227b10b930a7cd5ded05f5ee439c63448a6",
+  "labels/human/masks.npz": "11d3c299d61978ef2c48440fbddab8a20d2e17618c86ed4c39e95669e71a4824",
   "labels/human/mhr_fit.npz": "cbb1f4454a4e189e223eff4206b5ddcf1900e138eb9e8b2a9fff3808a188b9b5",
   "labels/motion_events.json": "69f30ee7a30b2031f5ac697de8e37a3869b9bc4b8de4c4b63339cc49657684e3",
   "source/bench_views.json": "8afe8ccd945afdb0f5383416d4069c6a8f6a778f066fc52815bb90da47a3c1ed",
@@ -363,7 +363,7 @@
   "source/timestamps/22684259.json": "28b8c81fb9c98598dbeb0018cc04f36b61e6a73bb21f83a77fd1ddf537cba546",
   "source/timestamps/22684751.json": "2eb793452e099ed176281f83ae20bde992a006a3e5c6c271659ab9ac286f90f1",
   "source/video_manifest.json": "2bead435ce3be6240f8590f698a01513882f9691274d296234a81a6577f13c06",
-  "source/wholebody_meta.json": "deb3367da5bc63d6950e50f1fb3b4cde47bfcbbcc6ca07682c70b325117080bf",
+  "source/wholebody_meta.json": "4dc031456069104e816cf855a0bfd9d319d85a43b85a0e8fe289b00e67318de3",
   "source/wholebody_qa.json": "1cf8e7f363e64c13b25aaee2598aa2d60a54e8b2b2dfb5ac36d6a9be616bd571",
   "source/wholebody_run_clip.json": "6f1f98395d03f0e0c2e4d2afb9915a4e4057634b9c2ac6ffdfe5308771d05e83",
   "source/wholebody_tracks_extras.npz": "a8abf94b41f073754741e960379f5216e834175e23623900036b5b6a4370b6f1",
diff --git a/Real-General/C014/source/wholebody_meta.json b/Real-General/C014/source/wholebody_meta.json
index c5af25eab20136f76ef7b3477d69e9ac0070ec12..6a693af566bf05c3cf33771e2a49abfb9c168a72 100644
--- a/Real-General/C014/source/wholebody_meta.json
+++ b/Real-General/C014/source/wholebody_meta.json
@@ -2417,7 +2417,7 @@
    "sec": 0.9
   },
   "_sum_sec": 552.4,
-  "_table": "calib/loo_black/C014.json"
+  "_table": "leave-one-clip-out calibration table for C014 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C015/sample.json b/Real-General/C015/sample.json
index 5b644cffcd5d091b539ddb32cb10eef80ec36a23..087b6d4af6955e3188e337d383e6da825fb187a7 100644
--- a/Real-General/C015/sample.json
+++ b/Real-General/C015/sample.json
@@ -343,9 +343,9 @@
   "cameras.npz": "5887433603a0162d0174a7c3c650d401d04b8a62f4796ef3614e7f896530f4dc",
   "captions.json": "6aeae9f4f1ceec27bc6489acae3fc18ddf3449bd7aacc6dea43899ad54abff76",
   "depth/depth.zip": "54ef07d073d00fd4f0e4c499f0a27bab48b2fc334ae1792e4533ff025db2e50e",
-  "labels/human/keypoints2d.npz": "00de121a637869e06e7893f662c7fa1b6fdb671bf8bc6b86418b8cba7320fc74",
+  "labels/human/keypoints2d.npz": "17e153a611efbd24401dfa288509d7afc276209677e06186e52bb1111e9d55f4",
   "labels/human/keypoints3d.npz": "987c6ed68a8620656760cd117f2869b404c4db9729e505dbfd34a59c1facc3a3",
-  "labels/human/masks.npz": "8686dcb89857cd6ff563aeb985933b497ab8f2fb12a7c7037018de2abbb3a8c0",
+  "labels/human/masks.npz": "11884b56e582c7bbdbad583ca3eeb1b1194ebc281c14a62624cba617b5b7c549",
   "labels/human/mhr_fit.npz": "3309c20e535680858c220b6c382d2dd182c4223aa2509ad957131703bf308253",
   "labels/motion_events.json": "a274291643babd68fdab289a63d021add8ec449379fd1e137e9ed79b0715e0a6",
   "source/bench_views.json": "826be3699f64d22260b8fe8ab5a54946bd0098369e5421712b8542650799777b",
@@ -365,7 +365,7 @@
   "source/timestamps/22684259.json": "d9a25d421ed4a330be6b98b0b0aafec8866ec4dcbf486d6fb08fd1cc7bd26b61",
   "source/timestamps/22684751.json": "602034f70ae6a2e68c850e0586f962e64c05c5010d6c6228e43fba6ef44ffbf2",
   "source/video_manifest.json": "07f9a646ccf8c30a156119f55c8f3165960c1002990747d2996e357fc2740f55",
-  "source/wholebody_meta.json": "8740bf28e369d050baa767b3db134cd8032a24c79ff563cb3c751e779ed299e4",
+  "source/wholebody_meta.json": "ba1bd3bda361dcc1fd71c1ea269ac7de2d3ef650b623a82e0bb4071c54317d8f",
   "source/wholebody_qa.json": "eff401336be169c12a092cf0544bfab29b798f049d92f037fa65d3c8c1f9486a",
   "source/wholebody_run_clip.json": "75b41482bf0dc8c77ebcc7cd0b0468bd6b73c3466bdcde9483f8059c924aacb2",
   "source/wholebody_tracks_extras.npz": "ff3802a670c3312ede3b3f2012181572e608e99b99afbcc40eb1b436f2ad4df7",
diff --git a/Real-General/C015/source/wholebody_meta.json b/Real-General/C015/source/wholebody_meta.json
index 85a9099f4e37fb99dfdaf81ec12e4d38507eed52..05440f846fe74445499b3c3317fec9172cf72f06 100644
--- a/Real-General/C015/source/wholebody_meta.json
+++ b/Real-General/C015/source/wholebody_meta.json
@@ -2681,7 +2681,7 @@
    "sec": 0.9
   },
   "_sum_sec": 509.1,
-  "_table": "calib/loo_black/C015.json"
+  "_table": "leave-one-clip-out calibration table for C015 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C016/sample.json b/Real-General/C016/sample.json
index df433b8d236183d68006d325ecbc56fa9cdb3cf3..cd9affea56ebe5a1a21bbc29ecee98f7f2a89362 100644
--- a/Real-General/C016/sample.json
+++ b/Real-General/C016/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "b39455b9562a73f243e406a269eda86fd3d42debd0db49ef523e914cb3a14c4e",
   "captions.json": "e4b7985e43bcae139fc3ef4dde96e1bc143aa0d80293c9a43ad9a4b20fbeb3d9",
   "depth/depth.zip": "cc33ee8384bc5782d78f9f8488f9ab2d03b934c3e14cfe8e6f9c1c89bea32c87",
-  "labels/human/keypoints2d.npz": "15cc31a0bdb0d084c832a2ce7515caf61783ba7aa470c0c1b886316ed1ad57bf",
+  "labels/human/keypoints2d.npz": "d88983f231a5366601540d08b31e7acc9e11c6f9711f3fd1939536387681772b",
   "labels/human/keypoints3d.npz": "9134a011e797c4b7ce38b8afc7c31c4e0dabfede0eff6e213e1366e520a7bda4",
-  "labels/human/masks.npz": "1cd1f5672e1e9c96a8303bac71508f0cc5370fbe71dbc7a8c1d12ebead5dd885",
+  "labels/human/masks.npz": "2b21b7a0cfbb3125b30afd5ab538661cbaf559afb6acbf8f1f17240d4b7e32b6",
   "labels/human/mhr_fit.npz": "6fc163d007ad54d4d6c2c5486b55d77a236925ea71e6c946cc2c52238a973dc8",
   "labels/motion_events.json": "c690e84dd4e963230121064afcd9434a01bf0f816a25f68f17a72ad29b70e3d1",
   "source/bench_views.json": "d1cbf17c684454b5c6cf9087fe6c75a54bc606d2adb93a090fa9ef6b091b044f",
@@ -362,7 +362,7 @@
   "source/timestamps/22684259.json": "a83ab3999755fdab9fccac471beddeaa0d0026f8f87fcd28ae36c1639abfdb7c",
   "source/timestamps/22684751.json": "945f317ea3914de79873fcdb5ad56da78a674d73bfa8de0a2be4ee27cf869e44",
   "source/video_manifest.json": "84f7978cee050b9d8ed274e7e84f357fd09606c9d67b415eb2e0bb7536633fa3",
-  "source/wholebody_meta.json": "395dd8d1da3f4a25fb1b4938ffa2da73cdab905ef9e69327b6aca5e4ce7b0f32",
+  "source/wholebody_meta.json": "8ff0c6d63678e0efe4738de557f7a9e9c15f9fefefd16fe9c741e0319d9676f1",
   "source/wholebody_qa.json": "50f19bf15aad5924abcbfecaa34ac0f0ca7c1959147d3d00fe164ea9b4fcf4a6",
   "source/wholebody_run_clip.json": "b965eff7abeb096bdb15850f51ae5af1687f47bbd5cd02a2219161e5c16a9cc3",
   "source/wholebody_tracks_extras.npz": "20068f973880acc2ff9b29bb8a08ed32fba7e4b10f648202e57329420b91d930",
diff --git a/Real-General/C016/source/wholebody_meta.json b/Real-General/C016/source/wholebody_meta.json
index 0651aba4fe6f075ced26a4754446493bbd0c9628..b54690a7a3f964bf551600149d4b9f26bc967556 100644
--- a/Real-General/C016/source/wholebody_meta.json
+++ b/Real-General/C016/source/wholebody_meta.json
@@ -2496,7 +2496,7 @@
    "sec": 1.0
   },
   "_sum_sec": 476.1,
-  "_table": "calib/loo_black/C016.json"
+  "_table": "leave-one-clip-out calibration table for C016 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C017/sample.json b/Real-General/C017/sample.json
index 9aab9c04d1f2419c56f3ff5240e87184271bd42c..e1fa8da32c2af1c70e52719b56a4cba6d0c2fd86 100644
--- a/Real-General/C017/sample.json
+++ b/Real-General/C017/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "75daad8ebb1da41d525391ce2473bf2222316af281569094a1768108017a2527",
   "captions.json": "39002798d4dfceb9768b6e80a00fb4119c49c78d09f511292431a570576f2800",
   "depth/depth.zip": "313f8abe1859d6102a72573edd4f42e5e9210a022321c8187a81130cfbcf75c3",
-  "labels/human/keypoints2d.npz": "f27375d8ee0d8fa84a9a1e4771ecb53df83d153f074a5cbe29e54e8e3347a67b",
+  "labels/human/keypoints2d.npz": "8586ce4bdef0ed5ab75c1a1d0250b8f3d423af209d4fe7ba368db6a1185040bf",
   "labels/human/keypoints3d.npz": "d2640a4faeb64acdf578526ea1d9bf26f29bac75786c9111d213f14ef14ab9f8",
-  "labels/human/masks.npz": "5980d7f375b08428c1a9e0a6b22e35dab159a029a3b5e7ad5ab19c0026ddebe6",
+  "labels/human/masks.npz": "789ab0eb5eddb253e4bff26fa7c6cc311350c16bf7d0bb2d550c58579f80f0e8",
   "labels/human/mhr_fit.npz": "e2548e61ed136659fb520061cbc1a4104b80138f2dabd86faa7174b451ee468c",
   "labels/motion_events.json": "3af40b145a56caa3bf5334daaf521ae5ce4ac586298c5018ff4bb155c6a19133",
   "source/bench_views.json": "9349d20417fe3d930ae12442b3dc9c39676c2581d20b5df9abc106f67f6191c6",
@@ -362,7 +362,7 @@
   "source/timestamps/22684259.json": "2abad63f7f27dd045fbc4e6f131ccb52f7ad23b5f4ee96afec5e7dcd2ce7ba4b",
   "source/timestamps/22684751.json": "61f9eeac6ea04400538e9af947cea21563947a97a45d61ef214ba95091f507cb",
   "source/video_manifest.json": "1340253f046239f7bc338897180a4a163a98e751aedc071c8953fbd1db7d0e1c",
-  "source/wholebody_meta.json": "ed2c2b713b1947b6fc83940893122e0c69b5706940d6a8645a553766b13fbba9",
+  "source/wholebody_meta.json": "fe66dfaa8088ce3d0b9efd9005d07c1829ef4f4b49ba5649d823b51a53033b94",
   "source/wholebody_qa.json": "d09f777f15d5a63be1445a9b02ae4b1321e4ae242761d438d7bb12a6322301ce",
   "source/wholebody_run_clip.json": "a5eddc77b9366399fe9e62ce952722ca5d0536e6820404441a35fd32f61b4de9",
   "source/wholebody_tracks_extras.npz": "eadb5cfa9df9fbdf71281c6bc7ad26382d09dcc15f133efe5a314de5475944e8",
diff --git a/Real-General/C017/source/wholebody_meta.json b/Real-General/C017/source/wholebody_meta.json
index 447e3fd590e4ab4d6edfc47e2c0c5ae707e80100..aadbb6fb6616760a5f383a40e91e4ef715206329 100644
--- a/Real-General/C017/source/wholebody_meta.json
+++ b/Real-General/C017/source/wholebody_meta.json
@@ -2415,7 +2415,7 @@
    "sec": 0.8
   },
   "_sum_sec": 533.8,
-  "_table": "calib/loo_black/C017.json"
+  "_table": "leave-one-clip-out calibration table for C017 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C018/sample.json b/Real-General/C018/sample.json
index ba23d7abffcafa43e1b316e1ad870489c70808ad..a2391c5d421e3ef2ca2f61697e3c203feac56498 100644
--- a/Real-General/C018/sample.json
+++ b/Real-General/C018/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "c4babc68740aa00afc2ac31ab25d48ecdcbc7eb505816de20c4e94b8387b2716",
   "captions.json": "dd934dd644bff5af73518dd58cdf6dcf2bb9f3115a5964332b8d5903487ea9a8",
   "depth/depth.zip": "2808ac40f3eb5d6161dd2d436599a5b8d966e9319f231e5a28ecd694bd1ccb7c",
-  "labels/human/keypoints2d.npz": "b0d22a87109fd0d4312e5f74bcd3f0cce4c3fb262f580f22f5a3cb82c4578e9e",
+  "labels/human/keypoints2d.npz": "78b1dbd02b0176f8d7d72b36f63f25994c675e61136a0ae1c8208a28be16211d",
   "labels/human/keypoints3d.npz": "25c622e432330d62606905fbf50dce6110e71e94da6fe9a70c706f67657abd44",
-  "labels/human/masks.npz": "d3d1ec5d6ec88e68ff032a210916bf40e57f12805ba16330bc584d3514bf4ce0",
+  "labels/human/masks.npz": "706b26c0d9da1153cc00502e729b01fb89e48b655da909ced1ee0d613d8ead6c",
   "labels/human/mhr_fit.npz": "9e3a32fb9ce3689fea32e1fd327a6e34bbde52c2fd37f0157c54760b72a46c78",
   "labels/motion_events.json": "4e2ac9ee07ae9dcef9bf58e2e5d0f207ad698629b195806d77762bf56bd2a881",
   "source/bench_views.json": "88e873bd0f40063d9bbf0b0e80953f8a03bde8e4d683bdd7147146c00a91d221",
@@ -364,7 +364,7 @@
   "source/timestamps/22684751.json": "ddc9fe9f09334b7a108ddfec58414a22e2ade7e11c0d0fe5472f0c4e8a262c2f",
   "source/timestamps/23022640.json": "b3b557d367da1d6caf5ecd5b5b7f7d1cc9cfcc555ea27a85ee8916ac7742897c",
   "source/video_manifest.json": "eccff9e4e1d6ab347a1e2ee1093f47d700b53f77d7b88ee99c4c569d92a91bda",
-  "source/wholebody_meta.json": "c7aaf97db57058ab9faba813b769f1c4c8d237acd9db66a7e7ea0c97cb243201",
+  "source/wholebody_meta.json": "e494b185b46b5ae6a72798a5701e8f8f9e66dbd67cf5526641925c0ca42189b3",
   "source/wholebody_qa.json": "b32247df9a722ee35511f271576ddda8f41caabf815d057f7d93c93563e060a6",
   "source/wholebody_run_clip.json": "4a06d6d3c37ae86b3023e0be31e60fd91a36a26c4da667069a572ab2d8f5c233",
   "source/wholebody_tracks_extras.npz": "bf1710d627f4120869cb989aac111f8eae205ea9147fcb121a13137ac450ebe3",
diff --git a/Real-General/C018/source/wholebody_meta.json b/Real-General/C018/source/wholebody_meta.json
index eeb419985530430e0bb98e3e708fd43e31ff428b..035a353c9473c2ea2cc8d225a125b8396829696a 100644
--- a/Real-General/C018/source/wholebody_meta.json
+++ b/Real-General/C018/source/wholebody_meta.json
@@ -1971,7 +1971,7 @@
    "sec": 0.7
   },
   "_sum_sec": 513.2,
-  "_table": "calib/loo_black/C018.json"
+  "_table": "leave-one-clip-out calibration table for C018 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C019/sample.json b/Real-General/C019/sample.json
index 76b609b92a7cbbf2514c10d1b456f70cd77b298a..4b299f77ba726e5fcd8eb506f2a2d8129235f5cd 100644
--- a/Real-General/C019/sample.json
+++ b/Real-General/C019/sample.json
@@ -346,9 +346,9 @@
   "cameras.npz": "668e27c6cc2cd41469d90aa9c952b11db3e61f7f6dbef7b691310ab66db54e30",
   "captions.json": "51effb31271cf3fff4d09ecfc426cf01e3fb378830415554509b873d38320069",
   "depth/depth.zip": "0783b6cfa04d674262d5f92196c25930dc767642b87c8883ac6390d8fda563b8",
-  "labels/human/keypoints2d.npz": "4d6aa996100971d210289ead3b7eaaca7acec7cd3b6c3a1c9b4b983e8fec1486",
+  "labels/human/keypoints2d.npz": "e0dbcd7f2f47d669b2f69cd4c6290bc6896e2ee1b164e566b0c9b830745fd164",
   "labels/human/keypoints3d.npz": "16aff187bb4154ad921365c73d370049d6f9c31f2293480a428875984580d0c9",
-  "labels/human/masks.npz": "799a6641aa923309269330c165f86a3153a03e82d65a497a4c43a740746ad474",
+  "labels/human/masks.npz": "cd942a6da0152452304993e71c0ce14b0179526d9da528d428ade788686783ad",
   "labels/human/mhr_fit.npz": "bef5395cbf42a6ed599fc8fb5e97deafe5df357e16d9cb1fda178f3073bff056",
   "labels/motion_events.json": "863c60c192c2d08b4b7d209e21772f4df6e997116238adc3c703f3144f2c787f",
   "source/bench_views.json": "1eafab85278526dafea66e3225ac6eb8cd7730aac849f0c70150002534900c72",
@@ -368,7 +368,7 @@
   "source/timestamps/22684252.json": "75d77ee97c67505eedd8d88a3c8f1ed412d77a9692737df4a61735be8f32389f",
   "source/timestamps/22684751.json": "5dd8840267b3b9d4c896f358ecdb476564ba58781499e9860beb5214fd87da4f",
   "source/video_manifest.json": "2997db2c2355ba700c6c3b127825c8a6a2e7ce437dde97a0a6536d85a96a952f",
-  "source/wholebody_meta.json": "59ecc0d3914b27a5b274182fa75c3470cb612b20c3f22223da22ed58b68e73c8",
+  "source/wholebody_meta.json": "8d05641938af0d254fe2454ab7567989286a13078726cc0ab0c713701f47e69c",
   "source/wholebody_qa.json": "3ca93f091ea5de0ec4ae30699a09ac7e7498ea849a6fce7284f0d1ab136f0aff",
   "source/wholebody_run_clip.json": "69f278c58f9b87916957d24a8bc0c5ce5d13a8279a055d4d179081421b258e23",
   "source/wholebody_tracks_extras.npz": "33cfa1c840bb9b2c96b5f7cafced7a261d1045e33d0da7cadce19318db8c657b",
diff --git a/Real-General/C019/source/wholebody_meta.json b/Real-General/C019/source/wholebody_meta.json
index 101ea7f99bef2cb512ba5b50dc751c5dae97d959..5a01703683de9e727741ea70a60e6b2e19b7408c 100644
--- a/Real-General/C019/source/wholebody_meta.json
+++ b/Real-General/C019/source/wholebody_meta.json
@@ -2563,7 +2563,7 @@
    "sec": 1.2
   },
   "_sum_sec": 548.4,
-  "_table": "calib/loo_black/C019.json"
+  "_table": "leave-one-clip-out calibration table for C019 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C020/sample.json b/Real-General/C020/sample.json
index aaabab2ba52b4fc3d13ee2eb74a0f6360a541328..2adc58680d2436e1ee796523eb77d9a7f49abc1a 100644
--- a/Real-General/C020/sample.json
+++ b/Real-General/C020/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "5887433603a0162d0174a7c3c650d401d04b8a62f4796ef3614e7f896530f4dc",
   "captions.json": "3aa3cc70194307b28c5046253c49104c7e6b894089cbbd9c5b49784fca4a03f3",
   "depth/depth.zip": "45b7e030844690415d5045030f1a57a07990a684055ad9bca6c6aab0ca0f6413",
-  "labels/human/keypoints2d.npz": "6268a7ad6c6282a08b19a16e6c297f8ca7c4489da4910a76f8ceed9a1f387f57",
+  "labels/human/keypoints2d.npz": "d75c59aee2b88eaeeea36a484134ed40a7584457c4caf9fee21008d3ae23bea9",
   "labels/human/keypoints3d.npz": "a7e891c63cbede4523abf77b9b5c8cbec203d9ad860aeb0e980740c9b274f7e7",
-  "labels/human/masks.npz": "5693f4b1e293da241e27965049dfaaab590e9bd5d3c4cba9c49f7c5d73397110",
+  "labels/human/masks.npz": "3a2d4dc47e24b7c2ce0dc692b5a6304620de335bb2526f1d406de73cd1683a03",
   "labels/human/mhr_fit.npz": "ff2d09749c025f84feecf3da6baf4df8b5e2e2bfc1b124942cb195ec5562bd28",
   "labels/motion_events.json": "267677370962e162ad97a191c004500269a19a1da5a29182884a62bedf8c1586",
   "source/bench_views.json": "826be3699f64d22260b8fe8ab5a54946bd0098369e5421712b8542650799777b",
@@ -363,7 +363,7 @@
   "source/timestamps/22684259.json": "9ed1ffedb377d4307efba5ade803fe21c463446c7cacb0e3233891517c8a82b4",
   "source/timestamps/22684751.json": "a2483cad8cf1be69b5876a996d1d03f1c49307c16b4b330a6b0d1ea23eebcf86",
   "source/video_manifest.json": "77381b95ce71010cb6d0fa1d1b04d2fb14efd0132f0653ffea0f2e244128c81f",
-  "source/wholebody_meta.json": "3605d7f925f38ff8c9b02a9554465b7bdbcf7de69bd1d50e971c6acef09b6c86",
+  "source/wholebody_meta.json": "f6cc7a008574aa15399898b9662145e7002a8dc17bd073208c3e4f89b32c3620",
   "source/wholebody_qa.json": "83e8f162b9750cdf37a8ff32685b96c1f4af2d3431233babaae8ccac21b12cf5",
   "source/wholebody_run_clip.json": "df35871f6cca461b87872d2b1a3fc2189b0d09aa28416c15b9762eb399560a99",
   "source/wholebody_tracks_extras.npz": "8d838b1c9c507e16b768d469e7d8a74a4653f6006d781a6b349319ee99442305",
diff --git a/Real-General/C020/source/wholebody_meta.json b/Real-General/C020/source/wholebody_meta.json
index 86bc6abfa8a504b53b6752d6154f973131a852bf..558ab6e25bc3c846e08a90c1bb18a03afd1e4079 100644
--- a/Real-General/C020/source/wholebody_meta.json
+++ b/Real-General/C020/source/wholebody_meta.json
@@ -2546,7 +2546,7 @@
    "sec": 1.3
   },
   "_sum_sec": 521.0,
-  "_table": "calib/loo_black/C020.json"
+  "_table": "leave-one-clip-out calibration table for C020 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C021/sample.json b/Real-General/C021/sample.json
index c58855cdea07b7e9bcaac1b1f419f3fc7dd2b39d..9ccbc0f82acbcb56657d91807757001f146e6a83 100644
--- a/Real-General/C021/sample.json
+++ b/Real-General/C021/sample.json
@@ -338,9 +338,9 @@
   "cameras.npz": "27d6bb1db03708a0d3c7c88ab96dcaa456bdb8835800f733f9a2ce6874c3860b",
   "captions.json": "8cc084991d715b39920380c1609d1577645836cc863fc8dafbe5b1f7e7c77d24",
   "depth/depth.zip": "56e5cf0880b48cced90bb5c0cfae70f4cfa8001c69a0d6661d5f6a7f0bf5ea3e",
-  "labels/human/keypoints2d.npz": "a28d86d7f976c9ba670c8627f002f2e4762964fed37ba6bc2ebcea65a4c533fc",
+  "labels/human/keypoints2d.npz": "6e892167939d545d2fa2aa63994aa8eed93cb53012629457bbb4a92bea293517",
   "labels/human/keypoints3d.npz": "48f7dde03986f43652ef0751369ef388ffa242cc67f20f5c250cdfa6f6168d8c",
-  "labels/human/masks.npz": "ff4a5d8f57fa5e95af6ddc20daa4461b9634cd8b131a8d9381f5c0dc9bc9f655",
+  "labels/human/masks.npz": "216f7a209511607aa3a32ba6ff97a7b5ec2688c5c0cb4f3af39e6623e5cfd70e",
   "labels/human/mhr_fit.npz": "b01b85e04748534af543f1efc215139ba8aca5bc49e6d538594b102d46302af2",
   "labels/motion_events.json": "68c546ae42b29e9606b4f1b4250feb553deca176e8aaef8b1ebd2c2aa156a73e",
   "source/bench_views.json": "29c90cdfa2ddf5d2397755832d86c95734ea4029f35894b58fd4843e7f1505a0",
@@ -360,7 +360,7 @@
   "source/timestamps/22684751.json": "22ca3ef35f2ce0cb83d1df0df18500c628830bc37d268b46603c84cb46600bbd",
   "source/timestamps/23022627.json": "c1d34b7a489d846c5e9d56a7b8aff147b13a9b7b9254af47cdecd50e8e70f4e0",
   "source/video_manifest.json": "590ac00d3b1fad2e782424cdf4b37567c6fe5b655da81a67ecdde4f0bb96fd9f",
-  "source/wholebody_meta.json": "a68e4e595aed8906200c5f45929253a2e1faf091987efab8af08ebe155b58d68",
+  "source/wholebody_meta.json": "9d85975d26f6445bf1cbe8df5e9e144a70927fdf66e5a3e59546b57f69fd0bf4",
   "source/wholebody_qa.json": "87b6d8138874e9f06766cbaaded4f245e8237b78a85f3b8f6b0cfce1f0c86fbe",
   "source/wholebody_run_clip.json": "dd0da05c0e52ef3faaa6eb1906de09c4f098ea6196856efc562d2c2767c48ab2",
   "source/wholebody_tracks_extras.npz": "4d111be5619e135a398b9b0940187d721a970f24884ad2d29d84220ec102f33c",
diff --git a/Real-General/C021/source/wholebody_meta.json b/Real-General/C021/source/wholebody_meta.json
index 204e698b79a777d41a7233889a75c28dab5c1a2b..84071e4e26d413fef9da7ce0fae1106e3a6c8b3e 100644
--- a/Real-General/C021/source/wholebody_meta.json
+++ b/Real-General/C021/source/wholebody_meta.json
@@ -2652,7 +2652,7 @@
    "sec": 1.0
   },
   "_sum_sec": 606.2,
-  "_table": "calib/loo_black/C021.json"
+  "_table": "leave-one-clip-out calibration table for C021 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C022/sample.json b/Real-General/C022/sample.json
index bef087db3d90cede126ccc01556fd818a0cf0b0d..6f06680f24e27aaca533a23b9a96c7806ff0db6c 100644
--- a/Real-General/C022/sample.json
+++ b/Real-General/C022/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "fb3cddc345892c8f70c872edcf49b6271505befb3cc0ad7db7fcb056f703c606",
   "captions.json": "e08474a405bab9f4f493fc0fa0911844d209cd898289488fe65454512dbd4f4c",
   "depth/depth.zip": "58a73919eef0925525224eb1faf7315cc1333e0c6630c6a46062b5655960de2c",
-  "labels/human/keypoints2d.npz": "cb2ef31f76cf3fd079a994cb5354125562d66c63c5bc4e4ae69a499c488fe9e4",
+  "labels/human/keypoints2d.npz": "15dc1a32ba474457f76809e9abede667fb8231d3f8c361f1eb776befa1621330",
   "labels/human/keypoints3d.npz": "fb9723cce989b26e8f63aca132b840b1148e4798b909b62c0c59a2df66fbd622",
-  "labels/human/masks.npz": "cc95a7dc18f7b7eb11fb984bf0df6108cde5826a302df6e7ed39f271cf06a843",
+  "labels/human/masks.npz": "a340acb15dfdb594f8cba02ff15134598684827170f32cb556f447fd63a21982",
   "labels/human/mhr_fit.npz": "27ba7e793a745bcaa983f11de3f5869d00498153924ef5b13fb6986a51a56993",
   "labels/motion_events.json": "548bab39bdceb40102500a2167c53d6034ff933ce3fbb227b092b948ea6414be",
   "source/bench_views.json": "0e5c3fb1d6e0d4dd2b232133b5f882152e3af06ada805f346ea38234604471a1",
@@ -364,7 +364,7 @@
   "source/timestamps/22684259.json": "2a8709f9df89f54153371baeee9515f6bdb4b7223640a3afc66ff811fd9aef05",
   "source/timestamps/22684751.json": "e3225fdce2102b58fb4b234f42729ffa39c5d01b50cc401f8c528656612d23e1",
   "source/video_manifest.json": "a4776861c5f1c3232725cefac5929dbcd52af73db13f8d1ea53335f2c1720c97",
-  "source/wholebody_meta.json": "4ad17c1aeb5b529307e0bd7ae2eed7e676e342591a0f78652d076a106f142a10",
+  "source/wholebody_meta.json": "76ae0da8ef046ddd76cdda632e7a8d0e28680496ab5cc10b5c0c84f2766acb92",
   "source/wholebody_qa.json": "cc1c36271454b8b50c18f09accd643b10073e21da4a22a5d62ec2700a8c8b933",
   "source/wholebody_run_clip.json": "571b1d8c22d9180f1acd719ff4cca2cbeb847cbd9ccc56d1687452ff15bb0dda",
   "source/wholebody_tracks_extras.npz": "51e37f984027fc25d1c430f850577cb2cfaa8af91269c6b8a5c8c5038de7faf3",
diff --git a/Real-General/C022/source/wholebody_meta.json b/Real-General/C022/source/wholebody_meta.json
index ad550e49d1a2a6ace6db51c004a9735e818dd47b..af87f5eeb39866fd971e98575bee30dc778bbf8c 100644
--- a/Real-General/C022/source/wholebody_meta.json
+++ b/Real-General/C022/source/wholebody_meta.json
@@ -2610,7 +2610,7 @@
    "sec": 1.3
   },
   "_sum_sec": 526.0,
-  "_table": "calib/loo_black/C022.json"
+  "_table": "leave-one-clip-out calibration table for C022 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C023/sample.json b/Real-General/C023/sample.json
index 8e8ea7cf44f986447066ef8fad439f62d464bdc8..ad5ca5d5ae9b2e4e4b2797a558adccef8f2807ee 100644
--- a/Real-General/C023/sample.json
+++ b/Real-General/C023/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "dcbdf2a8f6a5791c099f251863fd68cf5fa8fec84a88e73a89edc36ac4cbaba2",
   "captions.json": "cba5f9a275215b9f349f50e3b27821e091a96cdf444397e9d027debe54239b31",
   "depth/depth.zip": "55f2f55fb294205feb13e749f45064f94c63886ff4788ab8a2c6711cb5c13eeb",
-  "labels/human/keypoints2d.npz": "4a670c5ed9affca6bf5536b3525e1c1c91da6da52e43d48eeeb9b21f60512c5b",
+  "labels/human/keypoints2d.npz": "f113d68a92c3b30bc6caf205983a6ae1b8156f668caaff8415974b5626e15305",
   "labels/human/keypoints3d.npz": "eb860c3557231457c36c45ee2c82d504b2588ee6bdf55ea35b07c28f88126c70",
-  "labels/human/masks.npz": "0574659f4e4d5e5de161fa962d4cf8b1c2d273742738154a2d0b491121eb4e75",
+  "labels/human/masks.npz": "fcc5750dcc195c2de5c56b6574400bdca57bfc443bb5d33d2003c408a5d83ed9",
   "labels/human/mhr_fit.npz": "549746f68b112e5d1b8d8666bdd811c8ec99e25aeb1abc3174dbc0ddf0cac9e1",
   "labels/motion_events.json": "5760913a8a5a532e2dafcb708f53f382baa02791c794985f03fee979d5ffc2c0",
   "source/bench_views.json": "43efd8b7e922968b3edcbef52045cde67932331b27ca7feeb9253ad285de179d",
@@ -363,7 +363,7 @@
   "source/timestamps/22684751.json": "55e2162c045b9d05b5c0e616cd0febf62c73ba125b6fdc89a2d9c10ae88e0197",
   "source/timestamps/23022633.json": "254e793da564ffc7ac24c36271a0b3bfb7c6e2cbc9ba80f509d4b6fe49158c79",
   "source/video_manifest.json": "f3bd79bab0f00039a79e7a0ffeb1659029158a7c33c6042fb98c969d4e657c4d",
-  "source/wholebody_meta.json": "1977f35ac4761221a52466a6a14d35449eff0cd834bb95eff1dee2a72ede7318",
+  "source/wholebody_meta.json": "9926920d678d0e7bef3184598f24203e4dae9d4023cef312d891c3b365913a1c",
   "source/wholebody_qa.json": "ed3fe0369318ff65ac44ae1e4173123f153e9c880796023fcdfec9b956cc7806",
   "source/wholebody_run_clip.json": "b6b35cc819c985fdd93936080d94bbf5ad035f4593ddae5fa034fa7cc672988f",
   "source/wholebody_tracks_extras.npz": "ab4f15cc7ce67fb158bda0f8923979b29dc89fc7c3754c60bd92731354fb3c6f",
diff --git a/Real-General/C023/source/wholebody_meta.json b/Real-General/C023/source/wholebody_meta.json
index 6211a138bb63fa1946c094640956524050d5c4e2..f2aefed7a2231d992a4acdbe0ea7b14b43a68b90 100644
--- a/Real-General/C023/source/wholebody_meta.json
+++ b/Real-General/C023/source/wholebody_meta.json
@@ -2771,7 +2771,7 @@
    "sec": 0.8
   },
   "_sum_sec": 509.4,
-  "_table": "calib/loo_black/C023.json"
+  "_table": "leave-one-clip-out calibration table for C023 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C024/sample.json b/Real-General/C024/sample.json
index 8ce6302eb52001e2ad6c57976e3e256c82973152..16afd44ab8bf6075524c687e12f1374540629e38 100644
--- a/Real-General/C024/sample.json
+++ b/Real-General/C024/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "4a3a51e6985076ab82986e4eeb21df4787081ff203c4c30c889a3414988eab68",
   "captions.json": "ff5d7fd9aa52d71e6eb0727d0ff0ea0dee50a3fbc7e28b5560c5e26cad7f1370",
   "depth/depth.zip": "4e3b770d42be713baaa1257232b19f8196d18175b328f18abf04287b2f8b5249",
-  "labels/human/keypoints2d.npz": "139e8326d175a21f4dddedd2d15ac9b61432bde863820ad9ad8c5c5f652059cc",
+  "labels/human/keypoints2d.npz": "dc32c302241d47a32868c2a07c38cb5a5d4d817b43d8c0a66ceb039e8b47a159",
   "labels/human/keypoints3d.npz": "9ee4203c58dbc1e8701748fb8409407e8ee4b2ed07079b4214933c7e8a248a7a",
-  "labels/human/masks.npz": "20e59efabecd008a9f2ee2cfbd4120111ceaa257fe55ffec34a7045aabe5c297",
+  "labels/human/masks.npz": "031f7123b1ec027180ca2661f285d5e83b9a92c1c68709efb2ee2679fcd04fb4",
   "labels/human/mhr_fit.npz": "09763d2a88ade48c31fb6585a0d22ea198918f68526ad72666d9c16d8782dbb8",
   "labels/motion_events.json": "3888bdb7262e1c1e9b2d6d753ab4ea59bc8834a839efcc6cb7895ba3208f6352",
   "source/bench_views.json": "68d854464192ca83fdba0d742ab0ad15cddd66f1cf5c8b40e55f78ffbc069009",
@@ -363,7 +363,7 @@
   "source/timestamps/22684751.json": "ccdf2043059418566b70abf246086f2571f765647604cdd60618f219a42c64a0",
   "source/timestamps/23022627.json": "dfb987350cdf958c016367c7299f1024fa11c8376edad13c15f42cd30fbd2e31",
   "source/video_manifest.json": "7d0d71c0b9cc4bbbb173e3e5bc5eca033c2bb905136e27bd737c3c16e6ed914c",
-  "source/wholebody_meta.json": "3e04034f5d01d21839a7088e7a4b11fe5b21627116a3ba70b648263f985c8a4b",
+  "source/wholebody_meta.json": "73a9aa4bda12d03dd97860ca0d3d91ce39c2becada7b4281fa0974bae4a5eeb8",
   "source/wholebody_qa.json": "dc19c5566670f445f168ccbd57e4763e322027f7fd9ce06c97db403952e83ac1",
   "source/wholebody_run_clip.json": "e155bd8ec04a7cd598be4f2c51d1d41478316af67f7bedd2a8c7e5a396ec5f8e",
   "source/wholebody_tracks_extras.npz": "c1ff203bf4bb48d1b9b0acd4cd9b6755aae35c8d5072ff05d8fde23565c0129b",
diff --git a/Real-General/C024/source/wholebody_meta.json b/Real-General/C024/source/wholebody_meta.json
index bd8e723471da6a588d8be601fb7302492f1f5c5b..a498b1cd0c2b59f6336ff1e95c510691275428c4 100644
--- a/Real-General/C024/source/wholebody_meta.json
+++ b/Real-General/C024/source/wholebody_meta.json
@@ -2316,7 +2316,7 @@
    "sec": 0.8
   },
   "_sum_sec": 543.5,
-  "_table": "calib/loo_black/C024.json"
+  "_table": "leave-one-clip-out calibration table for C024 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C025/sample.json b/Real-General/C025/sample.json
index a02632ce53d8b2ed107d1414e7836b99a09d074a..35544cb6dd0ca4a3b2032b272092fc1e9b05bae4 100644
--- a/Real-General/C025/sample.json
+++ b/Real-General/C025/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "ebe6b4ac9646b82b17267adf9a94e2f2e83f64f9225c8f80dd974762003085a6",
   "captions.json": "28c8c339e9cfc0868b4ca523d2658681fb0c5aa560314a2078738edcf5e7127d",
   "depth/depth.zip": "570569f4de1b61df1fa6bb4b864bb99392bfde37b5582cb7f2082a144f2f1a31",
-  "labels/human/keypoints2d.npz": "95cd26eb095e6c8529bfdc6c9167504bddc33e8b7081f2d2a88308f079c9da0c",
+  "labels/human/keypoints2d.npz": "bcaabbff1c5ea3df08b08c82b29598eded6f2e7a88288cc35b8ded4eaa088bdb",
   "labels/human/keypoints3d.npz": "8046a116a3cafc70ba2f83f7409e7260e11d4d3ff95f164aa7ea330b3fdec6a2",
-  "labels/human/masks.npz": "073d0415462ab622b8b11660b4f9ffbb5e0b90e60159b04d91b064c36b9e373b",
+  "labels/human/masks.npz": "5348598f7c3ce37199cb51bb6e848beb8dc9819e494d6272edfea170afa43626",
   "labels/human/mhr_fit.npz": "74109982ca52a9c40d2ef92fa32be6ea1d3b37249ffe329808bcee4afe38ae54",
   "labels/motion_events.json": "3b82ba1463bc09540a55a97e4aa4940b25fee29a846a03ea68e3ccad074fe01e",
   "source/bench_views.json": "5ed4607212c4204c7b2fea89981f937c0011a61529e0c7fcc1acc35ab4d034be",
@@ -363,7 +363,7 @@
   "source/timestamps/22684259.json": "66f8e51f8e2c93999ad16815dd12f61a4759845d4660233ce907241e6ac7f7c7",
   "source/timestamps/22684760.json": "7401d086b219da107b5ea029becfc926dbcdaa1e9c176707527893873e207c89",
   "source/video_manifest.json": "2176c11ef5092dbac284d84b2add0569d7297687f345a088b36ae47865a726b9",
-  "source/wholebody_meta.json": "699d0608af9e2c013064cdc7e349d38920599a574af2b83b98ca54a0e8620cb4",
+  "source/wholebody_meta.json": "3f16d9f627c884b78e49c9f5735e6bf9bc2a37cf445b6b0235c486d9a35acb09",
   "source/wholebody_qa.json": "4d8257b493907bc9a392c4e1b601ce09e3ece5a36b49d59f959a60221ca3f07f",
   "source/wholebody_run_clip.json": "5333400ba2e621ce3ed78ff65d5dab71bf0752a21a5a1098476e0acc8cee210a",
   "source/wholebody_tracks_extras.npz": "68819f30d38db096a971e4817db1de4c6a8ff7b95cc4cb79016eb620edf3ba47",
diff --git a/Real-General/C025/source/wholebody_meta.json b/Real-General/C025/source/wholebody_meta.json
index 00e49b64a19a79c367cf5263cc6c7239dc7246b2..0833ee64e5f6591001049831416e30a90ad4dec1 100644
--- a/Real-General/C025/source/wholebody_meta.json
+++ b/Real-General/C025/source/wholebody_meta.json
@@ -2568,7 +2568,7 @@
    "sec": 0.8
   },
   "_sum_sec": 524.7,
-  "_table": "calib/loo_black/C025.json"
+  "_table": "leave-one-clip-out calibration table for C025 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C026/sample.json b/Real-General/C026/sample.json
index 3512f2896860602017f81dba73449777b20fd9bd..5f82120da7010bb7ae47d09e2eb7792cfb457d7b 100644
--- a/Real-General/C026/sample.json
+++ b/Real-General/C026/sample.json
@@ -338,9 +338,9 @@
   "cameras.npz": "798ef95ea6269cb23bb4c7fdb686814ee2f74fb0d61371d1aaeb2cd71f3ca72e",
   "captions.json": "0855a8942aade4b4b60b75813e7a8e4628953d58b16d39b7e634b0d09c532c63",
   "depth/depth.zip": "a139a305c9883c9d9eec0b2c6952bd3a93c7ed5de3d9a88fad6bc53cfd130693",
-  "labels/human/keypoints2d.npz": "e343bc32170ac6eba1ed834549c78b0f6e53a8f60a0684ec0c07804d29a9f8b7",
+  "labels/human/keypoints2d.npz": "15a9fc103684cc859ede921600713f736b27e953139cf5211851fbc09743aca8",
   "labels/human/keypoints3d.npz": "92fb4801a8f1c066997c67be0b665c062d9630555d5ac7771a1cfb2fa8cc2de6",
-  "labels/human/masks.npz": "3fe4c6b20a7639a934d374dc22cd974c1e8e49315dd4b455b6b51e7ca4fd175f",
+  "labels/human/masks.npz": "80b772caa17cf3e1a4d5c92f7bf406b6c634132bf88466bf410fae2f70dcadd4",
   "labels/human/mhr_fit.npz": "03e48a69b1ab7259f59477d2da449cf2d2c66495da9d7434349cd749edf0cc1a",
   "labels/motion_events.json": "736e09bbfc201f9c50a4fb24dc09a779aa10bd8d77c6d0d0e23b98e534a4590f",
   "source/bench_views.json": "d7daa14c3fa87c71d49bac3504c0d2b30974cda47bfdd6a273f9cd56af2970c7",
@@ -360,7 +360,7 @@
   "source/timestamps/22684751.json": "f3be804f907a09dddcbde8f1bb9835fefe86538640b8ac85b2c27f4ba3ee8a41",
   "source/timestamps/23022627.json": "8d45d4ed7de5677be55a5104fccb8c195d7c0f6090db3f855a56a453920f93ba",
   "source/video_manifest.json": "8a97f20298bc960659faf150b872d34446d7b0b48cca18de4ef7647d48c70833",
-  "source/wholebody_meta.json": "155858c9cb1383a97f4a9cbaa03a6b26f7b4092e956da125a7f3974b97d59e86",
+  "source/wholebody_meta.json": "9e86bba8f24fcf4b6f5437fbe46d3ffac55a9bfcccdd8e68d23cc80b9aad08a1",
   "source/wholebody_qa.json": "11181d5c0c3dd5ccfee2dfefcb63a1ddee38c0278e95441eb0232a189e7c37c6",
   "source/wholebody_run_clip.json": "3a23c9c3f90fcc66cebdb49556526867ff3d9f397d79f38a08a0981f1f8f4324",
   "source/wholebody_tracks_extras.npz": "93433b285b3e1c33949ed67051161986de40c2b6b18ebe940fd117acf3644d7d",
diff --git a/Real-General/C026/source/wholebody_meta.json b/Real-General/C026/source/wholebody_meta.json
index 98fc7b6de22943e026931dc60b9250e1330d8340..6fbc403655b9d342a58df4143ffd0f436d5a3616 100644
--- a/Real-General/C026/source/wholebody_meta.json
+++ b/Real-General/C026/source/wholebody_meta.json
@@ -2672,7 +2672,7 @@
    "sec": 0.9
   },
   "_sum_sec": 559.1,
-  "_table": "calib/loo_black/C026.json"
+  "_table": "leave-one-clip-out calibration table for C026 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C027/sample.json b/Real-General/C027/sample.json
index 5b7bb0c3a60d519ba8b2c669caee357a43d6b1ed..61b32720ffbf1746cb9d0dc4c6b7b3eec8d253eb 100644
--- a/Real-General/C027/sample.json
+++ b/Real-General/C027/sample.json
@@ -344,9 +344,9 @@
   "cameras.npz": "c828f18a3f1e911b797a2074723ca70832bf51e9451f9c33b20ec661df2b8b76",
   "captions.json": "6eb9e64c151fd113260fe36a2e7feb32cba2059b06e8eb00d030930e12a627db",
   "depth/depth.zip": "7a1597c7bfdac1c63edb562eea2164eccb50e0f0669fe30a79eb9da8f209c484",
-  "labels/human/keypoints2d.npz": "cb190731ed99b807dd5d42f7bd0366503f86d03b9d37ff5d2c00f111ed07d852",
+  "labels/human/keypoints2d.npz": "b2659bace9ac5fd3466758e695ab005e595262cdc3bd1cdadb8f86c118d4b741",
   "labels/human/keypoints3d.npz": "ee9baf9d3b97b45f096ec7df2e57c336de6fea77fd5382813d90726c75c3c584",
-  "labels/human/masks.npz": "cd92a07acbe02502bafa2abc04688c539bd1d89f740b58ed6029f181703e94da",
+  "labels/human/masks.npz": "f8e96ac54655bc397ab2d8916492c71a9cc44048ad4014fdd431d0d5506cbcb5",
   "labels/human/mhr_fit.npz": "553dafc37016ff7a01853fa671064eb8c406ba0e63773fe5896846f5068f35a2",
   "labels/motion_events.json": "b7cd86d629865d4873476c84353e9417c8cef3f84bdf0ef70faae09c550f7d79",
   "source/bench_views.json": "1cdd5c0794c7ca4630b63f56a6ca3452cc5378f01e109564a66142c38da00083",
@@ -366,7 +366,7 @@
   "source/timestamps/22684751.json": "6f172374fed70faa6ee8e0def887d285bd14df5fdcf0a55588a77856ee873a49",
   "source/timestamps/23022627.json": "df069df0ff9d928a6022ec32aa469c75b05b9a3488b512cce4913006fdfcea1e",
   "source/video_manifest.json": "cdd9850abbba965cfadbab6a288cce54e22d23299048ab1dd7d09f7822c97988",
-  "source/wholebody_meta.json": "2eebbd5ea1aa9f64fd12a487f8de4a2b924c05d849afadf20e86cb83c2ec8c01",
+  "source/wholebody_meta.json": "d62e287b4d34611283fed4e9217d79b2ff8ee9262811b0a5dc5cc2f76461d4c1",
   "source/wholebody_qa.json": "da61b3e3e39a22aee752e6c3f2bede1861b833e7630ade4b7284314d38815398",
   "source/wholebody_run_clip.json": "9c574bcb8ea6c691a0874f7f4299abb6b8f7caf325583223e4ab44cb60a2c058",
   "source/wholebody_tracks_extras.npz": "2fd11224c50a24c5352497349e0edbcd2c3cd8f0d7b78875e93b6c1ee0c2441a",
diff --git a/Real-General/C027/source/wholebody_meta.json b/Real-General/C027/source/wholebody_meta.json
index e36b1be89b0d6677c074be1d9d81164811a44246..8a28872d1b7622853eaaa9588c36945c2e57c5fb 100644
--- a/Real-General/C027/source/wholebody_meta.json
+++ b/Real-General/C027/source/wholebody_meta.json
@@ -2732,7 +2732,7 @@
    "sec": 0.7
   },
   "_sum_sec": 495.1,
-  "_table": "calib/loo_black/C027.json"
+  "_table": "leave-one-clip-out calibration table for C027 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C028/sample.json b/Real-General/C028/sample.json
index 4ed0639198e5262e018c7641f7e741165412518a..40ba6413c880f6b49cad8414feac64482a73779f 100644
--- a/Real-General/C028/sample.json
+++ b/Real-General/C028/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "b27a4812151e4a84b9621f898fa9db36163bafa5502ac184258254948125e6ff",
   "captions.json": "5a36621b9ad12d9df0c9b9026486af8157179d78a3de2975f99e3f917729bfab",
   "depth/depth.zip": "8613dfd88d7cd516fde952afef44159eca64de7dc16fdf69905a8e582cc83f30",
-  "labels/human/keypoints2d.npz": "701e516e0f2dd0de3f4e4a8d58ba6d16927afd4367e9e80ea83db27855542610",
+  "labels/human/keypoints2d.npz": "327d366df6840135f9875905146d738d69510bb014387bb476fc92f1713846b0",
   "labels/human/keypoints3d.npz": "27dafa9d40cc5a2a0599712d87dfb63447fbb3782a718f251d0e57fa344f65f0",
-  "labels/human/masks.npz": "ccef67fbf9a293f7dc32a9160f93f1f3a28ab875c9a3c230121defc3377ed8e0",
+  "labels/human/masks.npz": "d3d9e98e05ca221c98d72e0b5b02cabb53ff3fd313b4768ff2162aaf744a1e08",
   "labels/human/mhr_fit.npz": "546510e6da25a1bd1dd2066a8ad149b4b4cc10669efe7a8a94bd9c3ab84a8891",
   "labels/motion_events.json": "7e332a4fbb198752f66162555ec456ad09e99bb065012461388fe3f4e49d84d9",
   "source/bench_views.json": "e81a54e39ab3b42196a40c85cfe33f2149b436a77a185ff0b54eb1b405d61ef6",
@@ -364,7 +364,7 @@
   "source/timestamps/22684227.json": "60a9b0c99b51e47204f407f4267e56c58dcab6bc0cde5dc48e6b4701abf7d67e",
   "source/timestamps/22684751.json": "8bdca72982321661fe68c40ab922a4eeb991f3398529af8cc9e1bb38f7089d75",
   "source/video_manifest.json": "1635d8ba0515392779ec0243c284ed7623b2f7efd6ed533e5bebc8b14a519af3",
-  "source/wholebody_meta.json": "0a242a257cd3c060df098eb5dd6cc6bd4e46a203c2f4423cf7078a63e2cbb04e",
+  "source/wholebody_meta.json": "ee7b77d31b7c6fe11967dbe8a9103c9ff38ec97d4a064f36f9c339e6044eb5d9",
   "source/wholebody_qa.json": "b424844b67e5689a181802f3a1927703ef45f06522db74c1f1559f66910f8195",
   "source/wholebody_run_clip.json": "63a05a3865b7b5d8c648ce795755de1ab711dc123ace1d2d69a49cc52ea98a7f",
   "source/wholebody_tracks_extras.npz": "df27b1f13d4251d8e6c4078747dc8b1cb7aba2f60f37b15d4464ea3c814d12f9",
diff --git a/Real-General/C028/source/wholebody_meta.json b/Real-General/C028/source/wholebody_meta.json
index 560093c8d35f973991f75bf893ab04b385263c15..112d58d399d49541019aa7e477245f4285be5873 100644
--- a/Real-General/C028/source/wholebody_meta.json
+++ b/Real-General/C028/source/wholebody_meta.json
@@ -2581,7 +2581,7 @@
    "sec": 0.8
   },
   "_sum_sec": 379.2,
-  "_table": "calib/loo_black/C028.json"
+  "_table": "leave-one-clip-out calibration table for C028 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C029/sample.json b/Real-General/C029/sample.json
index 35ef642fb70639b1a40280f335e512a6179aab64..d6ab8d6b1d5e24be7821bab953b8afa05658193a 100644
--- a/Real-General/C029/sample.json
+++ b/Real-General/C029/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "0e73a38ab7e7ef2533c9be2a32fd32230223c7a77b5fa4e139abf255a751c9d1",
   "captions.json": "2974497017ad292cd1394f8e3c8fc950632077e6fa9ae29c18a6d3b0de46497d",
   "depth/depth.zip": "04f726e9d307eed5c1e66122cf5cf84602c4330400ffc4a14dec8821e1a9cc05",
-  "labels/human/keypoints2d.npz": "2b2aba1d67ccf431f7959fb626237516ea6c361770ee8206b75b27979dd6aeb3",
+  "labels/human/keypoints2d.npz": "efbd6e462e8592c2190e87c533c7c104149f92537dd20184de4dc8622c2aed98",
   "labels/human/keypoints3d.npz": "a05accb303fcab59c68ed5f70e50c21f70640f61526412d998818708846f1e6e",
-  "labels/human/masks.npz": "31a91910295247c564a9d7f6ad2fd70df54169055bd12434321f9d8bc5ad9af1",
+  "labels/human/masks.npz": "ef13c6a86607e471a74f710a5b425ada434420e5b5db8db8884e0c829e10ff06",
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index 08ec34acc0b46e08eaca00f5e55de99e466b66f3..5e7617f99cd6124902fc2f8ca7cba03e1627e499 100644
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index fd4d3396853f8bd9c13e911347ad5aa57d6377a4..eb1a65d9f2c5765c14faf350f0c31f68d6508202 100644
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+  "_table": "leave-one-clip-out calibration table for C031 (not released)"
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index fa17adb393a31bff5dabb88993bad138f360112c..b9f250baf0dee669a631bab9fca1de9a427319a5 100644
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index 7ffa19ead186391bb79fa179ea7e734a38c27652..91be4e4f926c729077e40c652d3fd7c785245a5e 100644
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-  "_table": "calib/loo_black/C034.json"
+  "_table": "leave-one-clip-out calibration table for C034 (not released)"
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diff --git a/Real-General/C035/sample.json b/Real-General/C035/sample.json
index 88928f3b6effc03846626b143582270f33d4b4c3..96402ab1fd08a4b38cc7fcc6b21cbab0bfd924b2 100644
--- a/Real-General/C035/sample.json
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index cd36913188cac560bb2a02dd2c1e6bd61bdd887f..50cbe86bd437276d6cc044919587b9343eee8060 100644
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@@ -2692,7 +2692,7 @@
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-  "_table": "calib/loo_black/C035.json"
+  "_table": "leave-one-clip-out calibration table for C035 (not released)"
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index e794faa5008cb1391d06e37c453aace69b20bdbd..a606320d59b759a085a6a4d325a4ee88721396af 100644
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@@ -2599,7 +2599,7 @@
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-  "_table": "calib/loo_black/C036.json"
+  "_table": "leave-one-clip-out calibration table for C036 (not released)"
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index ad5f8e910753907289daed7c05bbc4a31696e997..180e7623b14002dba1f86f6e30cdd8cd08143309 100644
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+  "_table": "leave-one-clip-out calibration table for C037 (not released)"
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@@ -2670,7 +2670,7 @@
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+  "_table": "leave-one-clip-out calibration table for C038 (not released)"
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index 123cf5eecaf99e7199022163016bcac755702840..406b96adabaf4df266d83d7e4991eaf5efb7fbd5 100644
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@@ -362,7 +362,7 @@
   "source/timestamps/22645025.json": "50f38c7d71f70c9ced89578958fde429764b094c6f19e7d9e3adeba4dedfff87",
   "source/timestamps/22684751.json": "de56a6640672b754247e75e8fcb74cae23ccf43cd901a96ce1814ba2fe962160",
   "source/video_manifest.json": "cf5926275e1a69bb2fc8cdc70bee81144c2bbf70a1af274e2e5e2d8e654ba9f3",
-  "source/wholebody_meta.json": "efb513a2db062c0df64adcd27b14a4643a3065ed3803f88ce68ef5b8a51d82f6",
+  "source/wholebody_meta.json": "b07e94baed055dbe4b64a2bd899cd1071368a209cd9d5ab961201cf4d76c04a9",
   "source/wholebody_qa.json": "e71957d12baed8b31fd3787ea9985c79b2418170eaa1f7f42d81d47225923b52",
   "source/wholebody_run_clip.json": "c08abd616886f9c31db9cda660106886088817459035782158ef1cc427d87c61",
   "source/wholebody_tracks_extras.npz": "d15c74bc4caa35dd853bf89b4e46b17ebc78532765150219b887d0b48de3e9dc",
diff --git a/Real-General/C045/source/wholebody_meta.json b/Real-General/C045/source/wholebody_meta.json
index 98506af67bee53fc251e3a7a8e7910a2bfd1840e..a06b6a54dda836124f819e6c4898b84a8a23ca1e 100644
--- a/Real-General/C045/source/wholebody_meta.json
+++ b/Real-General/C045/source/wholebody_meta.json
@@ -2539,7 +2539,7 @@
    "sec": 0.8
   },
   "_sum_sec": 515.1,
-  "_table": "calib/loo_black/C045.json"
+  "_table": "leave-one-clip-out calibration table for C045 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C046/sample.json b/Real-General/C046/sample.json
index 0ec922cc8d04f8500c1b658b39437ac546d7f922..6ef78b00080abd8f37fbc1d04f903cd16e5d75e7 100644
--- a/Real-General/C046/sample.json
+++ b/Real-General/C046/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "8e0962cc59cf79485c1e9f111b3a9278e578b5c421d22e378be6142fbcfd6682",
   "captions.json": "0e52fddb1932baaa5a83642d82a3eebdf5072e83a7166486ea8140c38ca28a41",
   "depth/depth.zip": "93e7f38d73c1073f6db724f69bf7c072e3a98ab88d7ecef084d3060573c5f51d",
-  "labels/human/keypoints2d.npz": "3053991aa46fc70bca686fd515c432c026134573a92fb313e3a8b4ecbb6921a2",
+  "labels/human/keypoints2d.npz": "cde753adf011a6d8f0d0de32df79ece1424409ad49df8b1953387642402e4173",
   "labels/human/keypoints3d.npz": "ff2b0cd0540c4f2038c42f02766cb29dd855543d17161caf14cf0910b2d51455",
-  "labels/human/masks.npz": "b822cf83d3a6713489f9ca7ddc7af93dfd252742d52aac9acb0543f0ed5ecc82",
+  "labels/human/masks.npz": "9869c7ee101e8536a8e4c7b8cb179541c5c8fb1ec4da96bb33dd22a49fa77b8e",
   "labels/human/mhr_fit.npz": "a40d5b32f061c8182c05d4db887092d14f1cc5d49524333f04e5f50b18aa552c",
   "labels/motion_events.json": "d2bdb999949c313c6178efaa2d122e75f995875e43b2d7c0a90b93632ae0cd22",
   "source/bench_views.json": "f78ac538c93349a47dde825fb5a3c18cb9a6820e4ae6ffbf79f88ef6ec1b3c08",
@@ -362,7 +362,7 @@
   "source/timestamps/22684201.json": "d61fa34702d49051d03cde79276e3638ba2aa779cc67faf79c2d86c8862b5511",
   "source/timestamps/22684254.json": "0ff0f666b291bc88cf2a5c644ef2b9bbc67dc202c843e6c5d74411bdc46ce769",
   "source/video_manifest.json": "124234893af34692241f09010542e1c6b87402e844e5bcfc9bea06d58635401c",
-  "source/wholebody_meta.json": "18b4ea1992d5dfa3615ea8ef9fff1d5773003ae99460272076bc5c363ed6f2ee",
+  "source/wholebody_meta.json": "d25e32c86fc3479b713fec737189cbda205aeca8928a594bbde04ccd8063a2c4",
   "source/wholebody_qa.json": "0311a5ae5a4a3be619e52fcbc1b42836c230c975da545e891c24917dafa656ce",
   "source/wholebody_run_clip.json": "3f83d2286f5269547a615497300fdf7549037addcda8ea3da819846a66cf540e",
   "source/wholebody_tracks_extras.npz": "94a63c512cb4d91c1dd7150ac89d0ceb9b9e472220fd84b025029e908329bfe3",
diff --git a/Real-General/C046/source/wholebody_meta.json b/Real-General/C046/source/wholebody_meta.json
index aae91e410aefefbff7e364d3a42e937319a94d15..f6cfacc64bb701ad05be7743c4d88e6f4f00b005 100644
--- a/Real-General/C046/source/wholebody_meta.json
+++ b/Real-General/C046/source/wholebody_meta.json
@@ -2702,7 +2702,7 @@
    "sec": 0.9
   },
   "_sum_sec": 494.8,
-  "_table": "calib/loo_black/C046.json"
+  "_table": "leave-one-clip-out calibration table for C046 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C047/sample.json b/Real-General/C047/sample.json
index fd87ec1ea03f2da232dbd56d67a59ba6e4bf73fc..1a31f804ceb3b71cf2dc37b27e873cf3ff7a9ae0 100644
--- a/Real-General/C047/sample.json
+++ b/Real-General/C047/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "e5b28dc69125a305976cc55d53c1b5d42ec3e1a313393fe9b8a7c0f0c897b0a5",
   "captions.json": "65208d1e315051fb884a1257fa4514af7a6c496d48ed53649ece9083351223f0",
   "depth/depth.zip": "59ec9c9ea87ddf97017a80e2113f8c8a479911f2e2076f43d35e42b290d704f6",
-  "labels/human/keypoints2d.npz": "019eaac11b636e00826e697577b0953f06663cbe149eb0c5879b164a4f49b6ea",
+  "labels/human/keypoints2d.npz": "cc7127779a313eacc0b7c50935a87ed39ecbad77bcbc6f8103efb80f1a0d7b7f",
   "labels/human/keypoints3d.npz": "2e9dbd2868489bbc8d08c5b0786a3ec296c98086674791181459ba3759aa7017",
-  "labels/human/masks.npz": "7056539b8c738c48f64a07c2436b06f2c3a01cdda26f020eecf51607f57c9570",
+  "labels/human/masks.npz": "baf2898522fd85a750a2f25ee3904540277d11348a9a2a39289cb4a00862b0b3",
   "labels/human/mhr_fit.npz": "644e270d1f57d9631f9c44c6420c5daa7592cecba28fbbd1095f50926b7a5504",
   "labels/motion_events.json": "7f1fa8b17821ebb229d62185ba5a234dc16d0efde7c2bc3ae6061dea0798a97c",
   "source/bench_views.json": "a7fdb16d8d17f817320c13930f60317e3eb6011e3b62a7603458cc44ed343a8b",
@@ -363,7 +363,7 @@
   "source/timestamps/22684259.json": "377c4964b4362561d774335ca119ed3a44619c4a9bbd7c83f54114b5927927f6",
   "source/timestamps/22684751.json": "66b26d8971fb80ef3b4bc2685bedf1691381669128df1f5ed7edf651ad32dd75",
   "source/video_manifest.json": "a15721cb73f47b37f9c165a03690322233b2ce31a02c3b5eba8d271bb61aab44",
-  "source/wholebody_meta.json": "e35a75b67498a6a02e812ffd7c89673cd63a5078f99f9e590a8042faafe17352",
+  "source/wholebody_meta.json": "6922e2108657c144af53e3521ccc39c6decb5e3e940375207c25bce9ec031318",
   "source/wholebody_qa.json": "a02369c87eb30e3b24d664c3d9a5f1770feaf181d6d812503c3eec8c23811011",
   "source/wholebody_run_clip.json": "a51e78bd1c8225a2db435ad931ec9a33020818050e223b32ba1166ff3fa11641",
   "source/wholebody_tracks_extras.npz": "8b6fa158a83734f3d1960187fc3beca42bf15dc181157b9fb1e061798312b0b2",
diff --git a/Real-General/C047/source/wholebody_meta.json b/Real-General/C047/source/wholebody_meta.json
index 005369ac90c1eedccc6b8d766bdf09f6354f0cce..953c6a6210c11f9fc0bd1545ec23a62a005ba607 100644
--- a/Real-General/C047/source/wholebody_meta.json
+++ b/Real-General/C047/source/wholebody_meta.json
@@ -2591,7 +2591,7 @@
    "sec": 0.7
   },
   "_sum_sec": 515.5,
-  "_table": "calib/loo_black/C047.json"
+  "_table": "leave-one-clip-out calibration table for C047 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C048/sample.json b/Real-General/C048/sample.json
index 53a5db3429067a79282799f854f2c27107079bef..a00ff5ddfd5d1fd9a61c770d02d17596131ff5d3 100644
--- a/Real-General/C048/sample.json
+++ b/Real-General/C048/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "6f5cdfa532020ed5c40b993b6abbaae178bfa9b1b23af2ce1ec708185fbcfc15",
   "captions.json": "e9909aa7ef1867525acea5d41f3ecc35f8f4321980d7e4e7e0d9fa25bc1d9c2e",
   "depth/depth.zip": "bf9c353df9e46f99d6f6d9a377e7f2b54ecf3b3c6a9bf710a0d3b0951b2617d3",
-  "labels/human/keypoints2d.npz": "1a6fdcaf6faaeaad94c1a7c643704877eb55547d1571db9886dd8498ecd62b5a",
+  "labels/human/keypoints2d.npz": "c55f315421814dbc00f69ebd7dcd064135153162790b08eda0a6dda1692ff874",
   "labels/human/keypoints3d.npz": "04273b8c933b425aa96c499e077e5146dafbc398cb37b696a65bc8646bb31d43",
-  "labels/human/masks.npz": "fc02ac0329bf9594b400e86704b440b90c1739376c8abba3976c32d185a71a25",
+  "labels/human/masks.npz": "9ecc2e61f317b6168c646ce78005d3ada6fcf581753564ae1503e23900a869f0",
   "labels/human/mhr_fit.npz": "d5bc818d0312f5bcf61c8159d7604643e31a42c323836f179f87418a8ab14898",
   "labels/motion_events.json": "80c0dcb81066abe27679069ee5b41532f4711eea9b9f183e0558d9e08933d408",
   "source/bench_views.json": "4e57e9d2f7e067d8a09721baf6d0de9cafc9553ed0e68d7dcfd2813c3906242a",
@@ -364,7 +364,7 @@
   "source/timestamps/22684201.json": "b91890fb49f541ff5a42a593c04bdb9bfb52c38db48bfc975431ed0ae8c1a365",
   "source/timestamps/22684254.json": "824a651def63e33bb5017c0aeefdd745f6d63d323518d73ecbc9f0b58f9dd28e",
   "source/video_manifest.json": "36295f03fa73fa77c95e4e104dd62671ae4e929ae6940c0219233005ce775b9e",
-  "source/wholebody_meta.json": "c6a0d89ccea3a52c63faf7d80d9dafb6f8a69d7561f03373432935f87683790b",
+  "source/wholebody_meta.json": "06544083a90cd6241dbe9c2e9e4a5d9c5d5bb99070b04ff3b00ac894b5cfd242",
   "source/wholebody_qa.json": "3ae4ffa5c76cbdc8612970906b1f8874929558d06ae96ae570339a99e9756e24",
   "source/wholebody_run_clip.json": "e22e4f8026793f6c07786d5eb39bf0efa9d241c9eac06a7f26d2fd3366fcd1e4",
   "source/wholebody_tracks_extras.npz": "e152a9bc96f097ae2053a43b22168df8790069b678216f64e1294ce385126b51",
diff --git a/Real-General/C048/source/wholebody_meta.json b/Real-General/C048/source/wholebody_meta.json
index ea64a0677a19b978b649955c1aa1cacf903357a4..558878d1f8467bee9e22f31bad69f10ed87c9376 100644
--- a/Real-General/C048/source/wholebody_meta.json
+++ b/Real-General/C048/source/wholebody_meta.json
@@ -2447,7 +2447,7 @@
    "sec": 0.8
   },
   "_sum_sec": 505.5,
-  "_table": "calib/loo_black/C048.json"
+  "_table": "leave-one-clip-out calibration table for C048 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C049/sample.json b/Real-General/C049/sample.json
index 67d2b44b39e1b804aa7dac5124df51e4b8043e85..11f633c17e26fda919d9f2cc496bfa7efc70f494 100644
--- a/Real-General/C049/sample.json
+++ b/Real-General/C049/sample.json
@@ -338,9 +338,9 @@
   "cameras.npz": "b4fe349721531f335be4429e5fda4b8aa7964bb3fbfc9a206909f8c9cbb53e5f",
   "captions.json": "ccb83c297399062586ff11642e79384f0e2911ba9a8a0be1683950f561210e8a",
   "depth/depth.zip": "b8680597344e9e25fc9e3fe4109b54f11f2ea55c85d179f4f15ad566fa017436",
-  "labels/human/keypoints2d.npz": "9a2681e8fabe213c8faf9e2449dcf9a8f1c4d6aa1f2614bb32152f1f44ba1326",
+  "labels/human/keypoints2d.npz": "d8116fb707b23416845cd043c7209f591083a26976f44c2db317ad4e0a472810",
   "labels/human/keypoints3d.npz": "c14f05bff93514d38d3219df85d25ba2a21734321d11171e2ed7dc40395421c3",
-  "labels/human/masks.npz": "480f23d4d97caca4fd3d3974174ebc11fcfd621a8c86ca650ae31a926e0465ca",
+  "labels/human/masks.npz": "0521e5f0f3e18b103864eb7c69ab3fec9aee0866b28d536792486e0e358f5a29",
   "labels/human/mhr_fit.npz": "0ab574141621527709c21c35e742dcf3fd3b49ca336213d4b182b55dd9ab3f32",
   "labels/motion_events.json": "6ee3fe9783e54451d3cba89cfead41a88580424ecc421af033db48d95150e1b8",
   "source/bench_views.json": "e1eaf165fd2368b13c126a18916ab93cbbf9ba99419db0c0118c174d1c1932d8",
@@ -360,7 +360,7 @@
   "source/timestamps/22684751.json": "2397a93dd1dee55328b9c219bca74fe7e2b114323bf175ba8dc046f7492ec6c7",
   "source/timestamps/23022627.json": "6cbd619a1bbf8266aef1ccdba0e9c320595961c82246674a24d4cadc3b8e7793",
   "source/video_manifest.json": "e2a622690e3e6aa751e9f79339edcc8f34c0890a13cd33a64234e765c8315b68",
-  "source/wholebody_meta.json": "e5dd41879b34fbf0ca942eaf07fd4634ae68de3f482abc2a1fcac4963757c447",
+  "source/wholebody_meta.json": "f0a3b367836d4d64b5958659e7167a88f2ff6ebc34004a61e5cf92b050b98ace",
   "source/wholebody_qa.json": "feabb158af059713bddd0cc3e28461f89a10d339bc63c6eae25729c18bf769e4",
   "source/wholebody_run_clip.json": "1e0eae584f5dddf8c7c57e0ca59a2854ca046d8da0db78866d2cfa02d6d2c1d8",
   "source/wholebody_tracks_extras.npz": "db1a50092b561c0348beaf4414783438994544c2146bbc37b81d0c4ccab16a75",
diff --git a/Real-General/C049/source/wholebody_meta.json b/Real-General/C049/source/wholebody_meta.json
index 0a3c3f657ca0ae480f0d30d1c4a50cd626329a73..7f85d2ea177c9f9f7bbc0816c5a2bde87a8323e6 100644
--- a/Real-General/C049/source/wholebody_meta.json
+++ b/Real-General/C049/source/wholebody_meta.json
@@ -2500,7 +2500,7 @@
    "sec": 1.0
   },
   "_sum_sec": 500.1,
-  "_table": "calib/loo_black/C049.json"
+  "_table": "leave-one-clip-out calibration table for C049 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C050/sample.json b/Real-General/C050/sample.json
index 676a7c6a9980d6ce32cd8264f72c116ed4488a88..7c0d19228942772b66c5768947c1e462f71e3f64 100644
--- a/Real-General/C050/sample.json
+++ b/Real-General/C050/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "371e2ad849eb56b40dd0c2f3f6600a1def7015833ceab3982d490e8d0c3add8b",
   "captions.json": "8301b524e6666d7960675e1826c052b8ea41e3c3e5858d2aaf66444fdbf17e55",
   "depth/depth.zip": "dc2aa626da68dad4a30e701a9c4762be4a6ea1053559737ada62840970a5b4d6",
-  "labels/human/keypoints2d.npz": "3c87aeb977bc735f93f9e4f907aad2ba0fb26dbb7dc44bc373d36b42cd43268c",
+  "labels/human/keypoints2d.npz": "09fea0205bde8148af96bbb0a86edfb69910f1709dce967ab75b9a2866b20987",
   "labels/human/keypoints3d.npz": "0280c4ce302b4d996b126a7369d40c71e1f943697f6337698a69143cc9e96106",
-  "labels/human/masks.npz": "4e5c6cf669bcd4debe9fe7e6f046d8b17a36f10fbf0578f1475d588762737591",
+  "labels/human/masks.npz": "ae0a1859c000a60c3b7405e4bddc3795ab4d726655354736a364398000ab8ecf",
   "labels/human/mhr_fit.npz": "4fe56dc44803e8dc2884a2372e9b812e801ec40fda279221ece82251a2fdb35e",
   "labels/motion_events.json": "24d423b7c81dd185026324c9371b1ba8d561e064ec51916dcb0021f7e81ed63b",
   "source/bench_views.json": "c5fbdd1fcf55572a9a0efa7499824bced433488c0fe7b0c3a29ff5edbfed589e",
@@ -363,7 +363,7 @@
   "source/timestamps/22684221.json": "1a1fc6c89c68e61596d9dbc2fc92bd5ec8d7fd82d95b4ec617599a94aaa515ea",
   "source/timestamps/22684760.json": "c3468519fc139d0202f2537f1eeb0eaa2dfdf75671057e2b221d9193acfaef8a",
   "source/video_manifest.json": "77e4fd279935bff3e26b8948d946f17b2f257b73c649b697ce5b315936b94ab1",
-  "source/wholebody_meta.json": "c6dee54f75a9225e00edb5d3910be5664e13d4db6b6bb4f72ac36c62b61213a1",
+  "source/wholebody_meta.json": "a89769fd0bb4f64313418dbc42ca530d633092d45b1eedec77d1c9788a77679c",
   "source/wholebody_qa.json": "e042e8223fde1941e172d786a19d51ffa39f4274aa2810db1a8102c7b13ec59b",
   "source/wholebody_run_clip.json": "6db6e73be4825b7f2a1896a8ddd001c29b2c977753018031fc70598334bffb90",
   "source/wholebody_tracks_extras.npz": "f96c6bd6e4ebb9410426764b2ef62a34ce4c03153a3f93fab573eff02a3b285c",
diff --git a/Real-General/C050/source/wholebody_meta.json b/Real-General/C050/source/wholebody_meta.json
index 04fd6d0a1eb88e5d35eeede1eec11e14930cee86..a36a1ee20d4074b0f4bec4d9ae9cd530c5f6fca3 100644
--- a/Real-General/C050/source/wholebody_meta.json
+++ b/Real-General/C050/source/wholebody_meta.json
@@ -2846,7 +2846,7 @@
    "sec": 0.9
   },
   "_sum_sec": 502.2,
-  "_table": "calib/loo_black/C050.json"
+  "_table": "leave-one-clip-out calibration table for C050 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C051/sample.json b/Real-General/C051/sample.json
index ffbc57c05299111a065b7ed0844748fa89e01b83..d62218dd0969c04a12cb321cc3b9cf0c79814356 100644
--- a/Real-General/C051/sample.json
+++ b/Real-General/C051/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "e47156e766bda83676cf1d4d9770c9799f882e688047ad9e5d5507cff86c2a77",
   "captions.json": "528d74e4fdc86322afc15f40e7af82e0269e49ac783989cd0e1fe0c0360a518d",
   "depth/depth.zip": "8a18c40dc390b193dc558e46f02f5c80e911b89cc16c8c7dd2d38a4cb413f9b6",
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   "source/video_manifest.json": "ae320348b799132a436a949bbc51762b53ec697c6c9b8b2f519befe778541e3d",
-  "source/wholebody_meta.json": "8b683992045f8d5930cdf6c60c09a9d79203cec9c9def5c9876d7d77bce23c7b",
+  "source/wholebody_meta.json": "ba0705f296e3418b691b126fe234a6b109e22d9f45b380e69ead6efc0d99be45",
   "source/wholebody_qa.json": "7f4025da04153ebd31d30bc47e4282b6f6b80f512bc177841daf79e6b0a44aad",
   "source/wholebody_run_clip.json": "dae8afe7695d10e148326f7f7d908f0661c2965fef3ca8c41aac4932976671b4",
   "source/wholebody_tracks_extras.npz": "e56ea82e72b8416e727ea59b59b5cd646c265d8db7d6b1359a4cd0487f372740",
diff --git a/Real-General/C056/source/wholebody_meta.json b/Real-General/C056/source/wholebody_meta.json
index 5433e2089dd5790dd591b94c56e5170c40baea62..7093b205854f2aae11931a0d0035237d1f022419 100644
--- a/Real-General/C056/source/wholebody_meta.json
+++ b/Real-General/C056/source/wholebody_meta.json
@@ -2792,7 +2792,7 @@
    "sec": 0.8
   },
   "_sum_sec": 509.3,
-  "_table": "calib/loo_black/C056.json"
+  "_table": "leave-one-clip-out calibration table for C056 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C057/sample.json b/Real-General/C057/sample.json
index 2ae8526eb77df56de7550b2b875a87cbce78ff95..047f5ffa5f91642fd917e3f1942c7522569733df 100644
--- a/Real-General/C057/sample.json
+++ b/Real-General/C057/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "52ec861d0f39812016673d6d80ff1ccc0767d58365fdd0f9aa3ef96d9436cf41",
   "captions.json": "7dcacdea39cb80b6d68dbda00ae4c58029c05f6160f791a5d001243c80a900c1",
   "depth/depth.zip": "4a6cab84bac1b6f8432fc9c777db4281f2b3be05f35ba61d06602e239569608b",
-  "labels/human/keypoints2d.npz": "754fe0ee04487d9dac771aa4f8df504d3609dcb4bcd33164b2be5be1a1e732e1",
+  "labels/human/keypoints2d.npz": "b3a061baa3b5e715b97229823dce4ae7f020a45a64ddde6162165f458a5e4ea0",
   "labels/human/keypoints3d.npz": "2712b272359a127dc3a4d4ee6cc8abf3e5d23474b3b08196997a11b175300bf6",
-  "labels/human/masks.npz": "084f2bfcf67b9ce47ce16b3f2467f53d76b71dfdcc1d72f4508c1f17d5cdc6b7",
+  "labels/human/masks.npz": "66a525cb26dfbf5bdf83904c6c9dc5985544c4928742354fcace7dc014e96946",
   "labels/human/mhr_fit.npz": "54fa055921b92c27fe139667425b0dbdeb93ec2c8613065c3457d23ed41639ca",
   "labels/motion_events.json": "0477042aec56a27b8e5cc866c91686951b612accda7a66575ad2332989356012",
   "source/bench_views.json": "34a30922b71cab1d5b4134310eb27d162a5feb50376177aa0caddfdf8e5b8dd4",
@@ -362,7 +362,7 @@
   "source/timestamps/23022637.json": "0557d9975ab51ac758b9ac4aedc2562fa6d57cb2869de9b41c9f6975939d34e4",
   "source/timestamps/23028331.json": "15a403658619762631dc0d1f38a53d821c88172170c9b85f2b7828199e132537",
   "source/video_manifest.json": "0f25772da591406a9ae59a57347836acc0b50ba5de357349abae56148552e4a6",
-  "source/wholebody_meta.json": "c713659cd35e8570d5abfceb4ee0ecee6f6feb0cace27b25c7e4adb61b43fa53",
+  "source/wholebody_meta.json": "aa80dc1bf9861282af18d4679b39b3be415a9ddb1c7a02fc8815ad4c66c92d49",
   "source/wholebody_qa.json": "b5f740368c4bd2f3d1c14e11404a5adde0da0bdd88e0774281e3e4c29ab11df3",
   "source/wholebody_run_clip.json": "5f84179817ee611769ab48db42312b99f538ff3c9678afd4fa3382d34aa95c40",
   "source/wholebody_tracks_extras.npz": "138659ee12640dff1674e0432ca87e1a622818ebbce4155e67bd47de82f50506",
diff --git a/Real-General/C057/source/wholebody_meta.json b/Real-General/C057/source/wholebody_meta.json
index e801e2dbcc6441c6b965d7ad1cc510652a19233b..4342b3073e2461eb9a292756322ae411693228e3 100644
--- a/Real-General/C057/source/wholebody_meta.json
+++ b/Real-General/C057/source/wholebody_meta.json
@@ -2459,7 +2459,7 @@
    "sec": 0.7
   },
   "_sum_sec": 576.3,
-  "_table": "calib/loo_black/C057.json"
+  "_table": "leave-one-clip-out calibration table for C057 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C058/sample.json b/Real-General/C058/sample.json
index df20462c4bc2e6bc55a92c5b91a22ba3f8b33c7c..3efe8243fb427e6bd3dfcf7c5db1e904fef1b3fc 100644
--- a/Real-General/C058/sample.json
+++ b/Real-General/C058/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "fe07c2aa14057609c4868be3ec14358515d55465e360f4e94127c95e302febe9",
   "captions.json": "5757a639c4467cf0a976624faf73f4801f4805ede7d0ab69875041187971111f",
   "depth/depth.zip": "5015ddbd8f3f04424d76d815a0b80faee73f8c37424a42141c50a5e6a9550065",
-  "labels/human/keypoints2d.npz": "e828e738b3c2f49f632e4cb611689adcf9d280132b0a937eeda15ab7e636129f",
+  "labels/human/keypoints2d.npz": "a6b30c1ac99a17bc9f3338252431f342998c271259b6129136bf54f9e29e1db0",
   "labels/human/keypoints3d.npz": "8922cd425fe4cd9bf15d9ec6a46c4014336aebc31f6c9971d890bda36af81e88",
-  "labels/human/masks.npz": "c94a0e298c331827915a46a9e6026727d544292d861a4f2663289a4a3af83ce9",
+  "labels/human/masks.npz": "d4a0999fe111feb17f0b3a979f2ee8352150a0c2750fbaba4d7530281d9977df",
   "labels/human/mhr_fit.npz": "db1bc120e72ec896000e6ccc0d20337cebc454668748dbdb0483609b84bf7ec5",
   "labels/motion_events.json": "84b3b27681a1ec5e598c4b6653dd29cf8e7d4d4084a67800b1799c9038d431ee",
   "source/bench_views.json": "93681b6b1d28e37ca186e5f09db6d0c913f23f037ca3191c21d1857bd1e44da6",
@@ -363,7 +363,7 @@
   "source/timestamps/22684252.json": "84743018e327e9480e5987129265269df89587228ee5bef5bb98e76abd26ac70",
   "source/timestamps/22684751.json": "b793635186c132484740f3f6f436f4dfc0953748563510b66e7f627de4cb6879",
   "source/video_manifest.json": "d75ffa51e0cea3c57125bf990a472a84e3c5b9140301c76b9a7b7c4ce287be38",
-  "source/wholebody_meta.json": "7b3021879fe8baf1c697b85f2c274d030b5da18dd1caadf3a1453280e7520ba9",
+  "source/wholebody_meta.json": "5d0aaf35ba52458d809c7ab65ab990340113456a8c7196f4e4dfbbfd86b27596",
   "source/wholebody_qa.json": "c889817a7103ab2b0363d132d274d6dbc3247c2fa7f951fa1e0f3fc0e968a703",
   "source/wholebody_run_clip.json": "6d998fbbb9c005e33f093929aef2fb51b5b950c8463e9022f3319ef43e279b96",
   "source/wholebody_tracks_extras.npz": "5e5006bfea761697dd97fe98091b53a31ff4f5d21c37df5e2042e642322b0e49",
diff --git a/Real-General/C058/source/wholebody_meta.json b/Real-General/C058/source/wholebody_meta.json
index 9f47148ecf7f6015f9dbeaf9ac47a2ebf531968d..187f37cbc397f25080f811a72affd67541b81f62 100644
--- a/Real-General/C058/source/wholebody_meta.json
+++ b/Real-General/C058/source/wholebody_meta.json
@@ -2423,7 +2423,7 @@
    "sec": 0.9
   },
   "_sum_sec": 487.3,
-  "_table": "calib/loo_black/C058.json"
+  "_table": "leave-one-clip-out calibration table for C058 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C059/sample.json b/Real-General/C059/sample.json
index 1bcdb5990a658a5a9eae1bc604e3b2b895d8fe72..b4cf0f608f1db487ed254f83e831b6bdf02b0eef 100644
--- a/Real-General/C059/sample.json
+++ b/Real-General/C059/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "4447ac3b9e42d2145580fdee95497bcbd19a5a214a0614f863795a213dd072c7",
   "captions.json": "92dce0d18e6d14b5dd8acbe13ce961ce53807fc741fd836727aea8ccb13924c1",
   "depth/depth.zip": "15b35dd5c1e9193c1fa2c42d5fb1922e9c8b544d1ea8a2a68c6e3ee2bf74ed43",
-  "labels/human/keypoints2d.npz": "b03d43b681567d2a6dbfb7170669fe4104f6520b74ef8177a979c8aeacbee34f",
+  "labels/human/keypoints2d.npz": "0476fd883d35c00f5e766cc44a9489004be7ccaf4d7f9bb4893bad4f4b8bf536",
   "labels/human/keypoints3d.npz": "ca712af27a90a73845f4691ea3949b96eae9de50f77ddcefa22f52b50bbe9a7e",
-  "labels/human/masks.npz": "7bad712fa77dfbdaeae44e1df88d4c76392126891280d65604a47491132ff2bf",
+  "labels/human/masks.npz": "09f8effe0ec4b11dcf4199a54e38a26ab426a9e3cb51de62a6b9c2de915dbfa3",
   "labels/human/mhr_fit.npz": "f89ddc6161b8280c40648c90331b77d743d5adde610e5e614c07d19eb044edcf",
   "labels/motion_events.json": "c56db5cb8b5ac35bd69542a6e853a5e048b8c58f0ac672d2efc9777104cd78be",
   "source/bench_views.json": "80e758dabbc3247bd3d187448b5dac69f1abddcbd08e10a4a3e925cd499f34dd",
@@ -364,7 +364,7 @@
   "source/timestamps/22684221.json": "58b97320d05d0213dd3ba5684cffa293aee4bd4eee8bb7e18156243871dee734",
   "source/timestamps/22684259.json": "0561b32f9f034821f2b396f8345fee2702d40a8e297953f3fceec0a80bc67bf7",
   "source/video_manifest.json": "4ae78d63dcd8ad9bd527c4f6a72e93a97748c9fea3996637df2d3858e979738b",
-  "source/wholebody_meta.json": "ba37c576215411bc6eee74fa18a5d0e52f71314686078a298f32533d2ebf8efc",
+  "source/wholebody_meta.json": "3662463907a8cac020c06306ba2a0c890d9779b5e35df47763f90339543c0c3c",
   "source/wholebody_qa.json": "54c1a1c06cc8f8de746903c7350e5b8416008cab3c7ccb0d16d55a5562ef30ea",
   "source/wholebody_run_clip.json": "2b680693e3807e168fd33b68629fbc307eb5eee1bfd7abedeada14519a27b400",
   "source/wholebody_tracks_extras.npz": "c8b079729558ed3a77847fd719ff358521eff255b244f0a4e3386da2465de2e3",
diff --git a/Real-General/C059/source/wholebody_meta.json b/Real-General/C059/source/wholebody_meta.json
index 58ff5a813d952e7aeb8be0cb9ff66b78fc11d80c..7d9d59bd41e8a6616d600aa5d174eb9242a44619 100644
--- a/Real-General/C059/source/wholebody_meta.json
+++ b/Real-General/C059/source/wholebody_meta.json
@@ -2464,7 +2464,7 @@
    "sec": 0.8
   },
   "_sum_sec": 528.6,
-  "_table": "calib/loo_black/C059.json"
+  "_table": "leave-one-clip-out calibration table for C059 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C060/sample.json b/Real-General/C060/sample.json
index 0daad8b7bfdea4f8c4b8c56d17beaf71ba1332a1..28429932acb08b02be42a42bb56f31df74c7fe98 100644
--- a/Real-General/C060/sample.json
+++ b/Real-General/C060/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "3cce99fdd01a1031b8a40eb728fdc9edb55841194ee0b0cdbbb8f35739617b9b",
   "captions.json": "34d567621f9f4076cc76f100f237874c7886a1b7d45cd4cf30a072c0ad2788d6",
   "depth/depth.zip": "bf81f061d35c7ef128a44b74183e87b986b97d0a93c09f235a876fecae29a3d0",
-  "labels/human/keypoints2d.npz": "8bc34c262dbf9337755fe805ea58be67b87327a8cd2eff4ebf0a4943c2db7e66",
+  "labels/human/keypoints2d.npz": "578e89a916a5bbbee43ed061235a20a91f9f22d914b3a41ede4f02806014c47d",
   "labels/human/keypoints3d.npz": "68b589b6665166485bf54f33646b4edaca07a1a170629884a843897c9f387875",
-  "labels/human/masks.npz": "74c3eddba923a3cd1a8d377bcc34e811507aeb0c39588b2c28e7d1f9153211b8",
+  "labels/human/masks.npz": "7cb11dc61103f19e00b26e10f0db8ceeab8c135da6d364dd8a5765af17c729a9",
   "labels/human/mhr_fit.npz": "8cd1b6d94c571995770732ccf1cec37f381220cc2af1067ae4da5c76df02fabe",
   "labels/motion_events.json": "08d976b38f8186646986124e98ea36f91eba4411bb762c64be4307a6397cbddb",
   "source/bench_views.json": "8c61e3bb0c25323d644ac66809e1cbd35ecc04b40da7a99837d5ab2d03f1fb58",
@@ -363,7 +363,7 @@
   "source/timestamps/22684751.json": "7ec219a2ec30ea6923e3ba203071a32a78f9bc5a27b46c52fa67ba8c2296caa5",
   "source/timestamps/23022627.json": "9750af7fb5bdaa128f5c578259d01b3f28cfd2dc664ff5a0899d3b67f157ad46",
   "source/video_manifest.json": "549c5f91999681877de52ec64c993def1a31257c0c512681eb1b0fd3dd822121",
-  "source/wholebody_meta.json": "4a2f778c4208cb524f959c61cec0750ca5a5beff04cc16dec80169ae69d916f6",
+  "source/wholebody_meta.json": "33d6b99ccad584bd3d3e424c7902d8ba08e49e7fdfe886fff7599ee11969672b",
   "source/wholebody_qa.json": "8d33f72f74c15db16f921f9c79d8297f48c51ffdff939e0be87648a067abeddb",
   "source/wholebody_run_clip.json": "45dd92b321a5243f1958771d211d8044927267cc67b71684f6fcdb52308da23d",
   "source/wholebody_tracks_extras.npz": "0aa2dffd93dd2745abba544ede2fd8c1a7fdcc108c70cec376748dab4172c3e3",
diff --git a/Real-General/C060/source/wholebody_meta.json b/Real-General/C060/source/wholebody_meta.json
index 0bf12809acbf66cb905d85ed41bd8d1a097f53c1..cfb8db988f5e3230d91a9d7da0c35e7070db8090 100644
--- a/Real-General/C060/source/wholebody_meta.json
+++ b/Real-General/C060/source/wholebody_meta.json
@@ -2532,7 +2532,7 @@
    "sec": 0.7
   },
   "_sum_sec": 508.8,
-  "_table": "calib/loo_black/C060.json"
+  "_table": "leave-one-clip-out calibration table for C060 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C061/sample.json b/Real-General/C061/sample.json
index 181df4ea9a893cdbb15937641d661eea300a625e..ab88863c21d3d8fc524bfcdaa14d3a11b46845b2 100644
--- a/Real-General/C061/sample.json
+++ b/Real-General/C061/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "79cff19f57d80a6465781355efd7b8e05772f4326a16e20b66722c6aa55e5c88",
   "captions.json": "fd30dbde8b4e2d4160841cfc5ffec0f6f9e88803a3ba5a252c6bec555e627bd3",
   "depth/depth.zip": "9188c2236dfc447a46b10a813d4e36315f4bc6c09548132cc5b2fc8883aacf74",
-  "labels/human/keypoints2d.npz": "c232db6bc657ef70e4a7d3b2a18cca8a9fe5962200a4a2bf890eb53c6c34578c",
+  "labels/human/keypoints2d.npz": "c8346f010d53342682be5b0c6a23770cfa9232dff814a4838b14d152d4374418",
   "labels/human/keypoints3d.npz": "4bcb5b9476fa65a384bee1856783366f58c065469606103709de8694f13e1660",
-  "labels/human/masks.npz": "bfd6c8ec8afc98c2780817bd6c7d60505a73d294959a1ae2b3b63404e45acb24",
+  "labels/human/masks.npz": "33be1e6cc248079f650eb88ad93c3644a9480144f6d016c213e6b42dcb9281ab",
   "labels/human/mhr_fit.npz": "7948358cc61c3e4ecebdadefefef57865e1f47bc3ac3314221f3c8357a1779a5",
   "labels/motion_events.json": "8dd4207de17821deae82757c7cf5656ffc1f94f8606ac461fd980cd8f1f763aa",
   "source/bench_views.json": "8afe8ccd945afdb0f5383416d4069c6a8f6a778f066fc52815bb90da47a3c1ed",
@@ -363,7 +363,7 @@
   "source/timestamps/22684259.json": "777dba104069888f63fb627f176b9b2273d51d57ab8217a2d902d830d28038e9",
   "source/timestamps/22684751.json": "510fbd4d8ccf57584dff84b716328beb0d1171d918f5ef06ca52543e0e7d0c79",
   "source/video_manifest.json": "1eb0814c9f7eab86059abb405addad370cb3b34992893876258ad11ec805a5e0",
-  "source/wholebody_meta.json": "dfc17f65e0604e687b14c12dfbaa7cefde1140f3cee1d0a759554201a3a81b0a",
+  "source/wholebody_meta.json": "20efcbced91e52a4b050b1a1e51c033558e5a6d9af90e2d664f6730eb9d885cb",
   "source/wholebody_qa.json": "0d9a325807d4b5e5f4e33da2f3b149cfa5a452b2e1425a147af9e72246a6396a",
   "source/wholebody_run_clip.json": "adc0c88076b762c25f67df6e7d822ef95877c65ed45927a939a9df29fa50dd06",
   "source/wholebody_tracks_extras.npz": "112d80da9be96e5df13a39ef3c4048749830d83815bb398588f86639201dcfe3",
diff --git a/Real-General/C061/source/wholebody_meta.json b/Real-General/C061/source/wholebody_meta.json
index e6c4804fc33441004f1c0c8902d646d5de2d060b..bdee34efce828d72d00a18a17c3658a0aefa0bf5 100644
--- a/Real-General/C061/source/wholebody_meta.json
+++ b/Real-General/C061/source/wholebody_meta.json
@@ -2809,7 +2809,7 @@
    "sec": 1.0
   },
   "_sum_sec": 519.0,
-  "_table": "calib/loo_black/C061.json"
+  "_table": "leave-one-clip-out calibration table for C061 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C062/sample.json b/Real-General/C062/sample.json
index a61e90ef081098a6aff1bd99e5fdb1dd5163ec60..fa2c9389efc5a831709c4c2916a6fe25b0357efe 100644
--- a/Real-General/C062/sample.json
+++ b/Real-General/C062/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "0bd5587757ef4cb955dbe31b48adfdfd903bbeadd8f9236a9ee798d3e59c3ca2",
   "captions.json": "7384b0712cb096fe03405903f936a02919fbc5da2db62c3350c29ca46a9560ab",
   "depth/depth.zip": "82b3905a7baa1a9e1b991ab7179404f3724916ae27b6d63610d7fe3ce1ac86da",
-  "labels/human/keypoints2d.npz": "2dff4e3913773b5a3c521853d2ff412ee44b88f06941ffd6b023106fd18d82ba",
+  "labels/human/keypoints2d.npz": "121079546710741fe47ca11962185ccbe32e3545daeea6ac6f42d515d2e42ca0",
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+  "source/wholebody_meta.json": "7831fd73a9ddec2f28e30aa7de6b7087d6787a0135b20c5a0e9843f28aa90703",
   "source/wholebody_qa.json": "f1399d8bd2350a47a579ca91fb4b87882be050fd3f4a31441bcf4a43b73a1ec5",
   "source/wholebody_run_clip.json": "a5e92ae5b7204f7eac3bd31128a3837494af6d4ec4038a33eb7504dc0bb3b064",
   "source/wholebody_tracks_extras.npz": "167d2966b2b4ca9eb504cbb3f8a812876cb9727dda7f1d8010a336c015398008",
diff --git a/Real-General/C072/source/wholebody_meta.json b/Real-General/C072/source/wholebody_meta.json
index b11f91ea9e11de3bb741fa0efba4a41a20c9826e..4f9ca03595c5919a556f93cdfa0f1eb1d0966a04 100644
--- a/Real-General/C072/source/wholebody_meta.json
+++ b/Real-General/C072/source/wholebody_meta.json
@@ -2653,7 +2653,7 @@
    "sec": 0.9
   },
   "_sum_sec": 550.7,
-  "_table": "calib/loo_black/C072.json"
+  "_table": "leave-one-clip-out calibration table for C072 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C073/sample.json b/Real-General/C073/sample.json
index 8a2aaa240c0f1b529c11187945387888b19c867d..e9605f380e56b4e7e6e7dba9c8bc0b538dacf192 100644
--- a/Real-General/C073/sample.json
+++ b/Real-General/C073/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "554d56323faf7e3d25fffc1179e04e4ca15dfc83427f8b1b4c1e9808ad1ea51d",
   "captions.json": "8f7eb1b19b2ceab79386894a64525c964a64abc7429550f4a9f11440eecb9f47",
   "depth/depth.zip": "96bf63a5d053f376887b82ec7923308547e56aa59d91c977c589e9fbf52358f4",
-  "labels/human/keypoints2d.npz": "6215af4bd2f2a530fda6dd83923e21d8605991863cc8368592ca83a7d5198e8d",
+  "labels/human/keypoints2d.npz": "f09fc2ba560ef415c177590e73761775b741d3655336f7a88df46190b0de1a01",
   "labels/human/keypoints3d.npz": "4b0cb92a0f4a76fc42adbd92ee32d2f149cb4dd2f32ad2f4ff90482f579e2da6",
-  "labels/human/masks.npz": "026d39632c70506942b0a505748bec596e8e83cac168044677cb67e423de3314",
+  "labels/human/masks.npz": "4ca3682ba1c7156a692edd3f267118091172adf556bbaad94f4ff74c40eb9b0a",
   "labels/human/mhr_fit.npz": "95ea73d86c201b47adc2d27132e2bbc0c7cc1d6514eccf8aa369d1e9c8d25dad",
   "labels/motion_events.json": "0dd456db5415df9ed353e77f2d52af6cad309f27886cff692209a40bcc36c10e",
   "source/bench_views.json": "49ff2959fb3fe2f62d4ec1e298a836533b68d497e516a7f7b2017d9ac7e4edc7",
@@ -362,7 +362,7 @@
   "source/timestamps/22684259.json": "3895e3892184435ba7b4d8b60a604a52a3f1b4ec9aca102e8460fd446e8d87e5",
   "source/timestamps/22684751.json": "714e73827595da9099577b3b26774ea69e62bbe32d779b9a4d764d86d7bc462e",
   "source/video_manifest.json": "1781def6d39ab71c581c87be7938945908886ce3bff862d78506205bae6d381a",
-  "source/wholebody_meta.json": "a625b8a9affd2d80ec90eea61dd1b7da7533de64b9eb2eab98b8e3800a3b9f83",
+  "source/wholebody_meta.json": "5650fdb1ee82979a8e4c53d9355b057e71cf8fd63f0342b9d40cdfad555ef922",
   "source/wholebody_qa.json": "4ac513d162b3d3d9d8d2aa0b449d86bfcc2f8218ca9efe90d97ffe005d20d544",
   "source/wholebody_run_clip.json": "fd62052410ebb1fa7a53e6ab8e79bcd91e5a7a2633656b56984c35ebd09f143b",
   "source/wholebody_tracks_extras.npz": "4a741db202a25034a17c2d2ddeccca3e770cde8e9cfa5c75f9a946c49a62b251",
diff --git a/Real-General/C073/source/wholebody_meta.json b/Real-General/C073/source/wholebody_meta.json
index 9d2c5d61d6a04b243419433d22454af4139769a7..aea43db8395f51d48e5e8d6ed1646f020e406708 100644
--- a/Real-General/C073/source/wholebody_meta.json
+++ b/Real-General/C073/source/wholebody_meta.json
@@ -2664,7 +2664,7 @@
    "sec": 1.4
   },
   "_sum_sec": 554.5,
-  "_table": "calib/loo_black/C073.json"
+  "_table": "leave-one-clip-out calibration table for C073 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C074/sample.json b/Real-General/C074/sample.json
index 8fa1e992d7a57d145bc3db60adac139e6854ad66..02e5eb7d7c14708b9df91461b6c757325a8da296 100644
--- a/Real-General/C074/sample.json
+++ b/Real-General/C074/sample.json
@@ -341,9 +341,9 @@
   "cameras.npz": "cd2cf56655e16fe30c286759a579bddd3b9bbe022d643b86e3de3871f16f9c2d",
   "captions.json": "e5c5e32bd23d538e6c82770e6ecb882b06e57d0606567f3b66ad59894cec3917",
   "depth/depth.zip": "8e5be68fe3d78cfc99ce1e07d8f8f473b379d2e258c615548996fb9f5b1367ce",
-  "labels/human/keypoints2d.npz": "7c1d92ca18cef2e23a7029833e4c7a1f0ebd687dc20e26793ab64377fc91b98a",
+  "labels/human/keypoints2d.npz": "759738ba38165f31e3f3e15e46c6ccb73118e2a2165b868008e7d93139ed5b7c",
   "labels/human/keypoints3d.npz": "2939cbc70f5868cd0888e791dac36e36707f9bd0148952bf64546aa4832ed30d",
-  "labels/human/masks.npz": "ca09ff48194f86c7518bc4efa9ba3a2a2d06a917714c8d44a2bbe27488b34c99",
+  "labels/human/masks.npz": "514ffa73f25354bf91322c6b3742c5c272fa07dd2bdf3668180759d6b521267e",
   "labels/human/mhr_fit.npz": "9b73787e158e42eb798791cb66c57018bc00d826b4f91922646ebcd16ea0ac42",
   "labels/motion_events.json": "9fd1248a9f36c62760d78caebb23d9120816325cef31d8cbb7ce9757f5d9474f",
   "source/bench_views.json": "bb690808b509e1fc4819bc6a2be52fe9f0680ebd174dbf9fdcaf26a122abb594",
@@ -363,7 +363,7 @@
   "source/timestamps/22645025.json": "5597506309ed4ac9893098b808faf4abf2e3504312532b151967f3e41b2136d3",
   "source/timestamps/22684751.json": "4e835035ce87d5217e47e761eb942b86b6dbf22d0c69c77ec24b2083ffecec6b",
   "source/video_manifest.json": "0151735d762415a14bdd3d2664dfe7a93fcf8f53e80cff27ff3074ae0e334815",
-  "source/wholebody_meta.json": "83fa47b2f1e72adcbe8f8c86acd085e49076f15cac602159d80d646b1e4fd81d",
+  "source/wholebody_meta.json": "2acfdd1e85ce3b4daa5d395363cbe28206763823b6f1ab7f2be55d3f92e2d82c",
   "source/wholebody_qa.json": "10422340643afdba6e382c7dce2a7c461a70963aaeb87b06b806edf40989349c",
   "source/wholebody_run_clip.json": "5808a6659301fd3178d34e810955b2b36db12df1367d6f0b9508a70f84fb58d3",
   "source/wholebody_tracks_extras.npz": "6f5bf433e66bb5254f593f346a1528523978db6ec1424a1ea7f65ee5a7624cd0",
diff --git a/Real-General/C074/source/wholebody_meta.json b/Real-General/C074/source/wholebody_meta.json
index e2a385c51f8c846e4dd826edd6905c7ea00bccb3..a2526bba1ce5134a692aaecb8d2e019f1cedffac 100644
--- a/Real-General/C074/source/wholebody_meta.json
+++ b/Real-General/C074/source/wholebody_meta.json
@@ -2681,7 +2681,7 @@
    "sec": 0.8
   },
   "_sum_sec": 532.7,
-  "_table": "calib/loo_black/C074.json"
+  "_table": "leave-one-clip-out calibration table for C074 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C075/sample.json b/Real-General/C075/sample.json
index b74a5b672cea1e5d1166488cea026f77d69f3591..0b629600b1f865334717139eb5849b57c0aea362 100644
--- a/Real-General/C075/sample.json
+++ b/Real-General/C075/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "61f5c11f494dd2d21e38d0c568f23752a2ed660c29d75d23ae2bcec84c87febc",
   "captions.json": "56a759128c5b04b85599ab1b59fa9608da758b8ccd7266be58f47239806b2fea",
   "depth/depth.zip": "83db3193dca5984eb6bbbafbfb44a739eb435e53669df9e70cfa3f315e2b0521",
-  "labels/human/keypoints2d.npz": "5de46dafad0b21bf1398c309b5c095cb08ad9f7cd1c002ac956e9fd6cb835ed9",
+  "labels/human/keypoints2d.npz": "271f50aa51ca9223c180d0ca2abb3edc9a951e56900af8e64e14d86036a84740",
   "labels/human/keypoints3d.npz": "1a037e7def5b2654bc0a87e863e2fba6b0fc18e698ddf1cdddc82990fabc2372",
-  "labels/human/masks.npz": "58892f8282d0b53b77e6ae80916a6ea74656de72daee9c4d3d5365103416bebe",
+  "labels/human/masks.npz": "0167ec5d7c805e343b4801f6d074b57c8908fd4f9348476adca7721512053915",
   "labels/human/mhr_fit.npz": "fef09c9bf3e020c79d70e74ccd35018bd6c15d37773343244ce03303add9b7c2",
   "labels/motion_events.json": "fca421769ec5d85c3d17191ed3ba091dbee9fcc7809c75fd53f7745b6addeb93",
   "source/bench_views.json": "0d6246a1753a2b2d009e807271f4d9ada46e464464dc1277cc9e37b884f1b45e",
@@ -362,7 +362,7 @@
   "source/timestamps/22684201.json": "eefe016b361af24f6ce64776cc264f52f47a1bc43d98822024acb22c34136b6e",
   "source/timestamps/22684751.json": "96f540fdee705b8a56e51c444960a74fcefc8e48f18b658b01bfc4fe71d87941",
   "source/video_manifest.json": "bb275ece7a1b7810931cf072719842d0dc5df169ab470363bfd2ec9f9e0f3002",
-  "source/wholebody_meta.json": "c13ccf08741b32f7ebcca5bdbf5475c0b738b712b0883dc13ce0434584c6e6c1",
+  "source/wholebody_meta.json": "925afdd4e387b67a2b26fdc9de0ae0293c757effcceb6dcd08e71f60b54f7497",
   "source/wholebody_qa.json": "ee7908efe8aded370be0b686ad2e141bafb1e9d07f245f577c95e39adfd32a43",
   "source/wholebody_run_clip.json": "7f70202566d89e8de6afa5d208cc5be40d6b26f1ef8c529e48439d430b4155f7",
   "source/wholebody_tracks_extras.npz": "b35810f454c49ba4af5468a04e372b6f09bab9fc1472c057df9ae18d4ae9aea7",
diff --git a/Real-General/C075/source/wholebody_meta.json b/Real-General/C075/source/wholebody_meta.json
index baa5ed1bd7ab23952efac8990bc5b92165d10151..b0478249da0b4f8044fa9c58bfdfe24e12b1229f 100644
--- a/Real-General/C075/source/wholebody_meta.json
+++ b/Real-General/C075/source/wholebody_meta.json
@@ -2807,7 +2807,7 @@
    "sec": 0.9
   },
   "_sum_sec": 501.5,
-  "_table": "calib/loo_black/C075.json"
+  "_table": "leave-one-clip-out calibration table for C075 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C076/sample.json b/Real-General/C076/sample.json
index f2c32bb7d49d02651d58c325a1ebf27447dd2a8f..4b4babe6816f24c2e848768e83d699fbfd00793f 100644
--- a/Real-General/C076/sample.json
+++ b/Real-General/C076/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "bae3b5bdae57fd3add70d969cc5cb3fb83d888e33bf8997df714050545f4e6cd",
   "captions.json": "a136df2423988f82b7ad8267d76e252c4c541f878d8525301b982fb08c9b37bd",
   "depth/depth.zip": "2fb3534ba290ed154592451767491270833ccef3eca89706e1c28395e7cb8320",
-  "labels/human/keypoints2d.npz": "eb567d29e5847a729ac1424291e6598d0c5ef50843560e71033b187b66e6a6f7",
+  "labels/human/keypoints2d.npz": "201b3bb2388ce1ac98580d0de096f10bb7c7e2170b8fc403b9543d869fb52d8a",
   "labels/human/keypoints3d.npz": "e91af5bff93c65c3af986f2858cb51a5b5b0bc16359546051a1600dd5d0b94d5",
-  "labels/human/masks.npz": "02ca7cb7856bf86567d726ab151254a1737f8e90ab14423aeceaeab438b58e09",
+  "labels/human/masks.npz": "8d594fa45ae13820ed155ac4d1484001cdca388ca99f5fac438cdb0171468ce6",
   "labels/human/mhr_fit.npz": "d88ec8674b83eae9e1264a4522364714079edcdacee738043401429a21f795c1",
   "labels/motion_events.json": "cb55131c77c8ce008be36f2586927dc63493e2b4e14b493fda0799b4e54a3f72",
   "source/bench_views.json": "361a78d53c2d810e0492e6537dc160241b55a295937618683ec020c7145104ab",
@@ -364,7 +364,7 @@
   "source/timestamps/22684751.json": "aedb96457f800dc2396f0f9dccc799a2417b9f1e2ed349c496be89f0263b93bd",
   "source/timestamps/23022637.json": "9762b1c158cb0a8c5a46cae976f6cb1fdebd0ea5dee547886e17dfd376b0de23",
   "source/video_manifest.json": "8698a0ecafb1b45f41071dce40c7021583349e305eaa4095386e032fb6a2faad",
-  "source/wholebody_meta.json": "a970b8f9afd9ee5155c02d546e12600892c9200284c10f657eef6d0360aee334",
+  "source/wholebody_meta.json": "271b7e727eab4c0ce45ba592e1bd7acb60a6e4dbef35ec04b9618be616515966",
   "source/wholebody_qa.json": "0e45c2394df1620b6aee984480f088b5493457dad66c8549cab0d973ca7025c7",
   "source/wholebody_run_clip.json": "ea38397428893170ff1bd11c82fb0fd2aebfd1938ba527ee595ec48afdd8c09a",
   "source/wholebody_tracks_extras.npz": "0685219ad63a4aebc4b74a1a4644237447b62f109a990b719b5957a1e7765159",
diff --git a/Real-General/C076/source/wholebody_meta.json b/Real-General/C076/source/wholebody_meta.json
index c692f917d6fe97ab40c10fcab67ef395d5d65cfa..f6d7a506a76dff0de4398faaa022bcecbeaad7ee 100644
--- a/Real-General/C076/source/wholebody_meta.json
+++ b/Real-General/C076/source/wholebody_meta.json
@@ -2669,7 +2669,7 @@
    "sec": 0.8
   },
   "_sum_sec": 499.6,
-  "_table": "calib/loo_black/C076.json"
+  "_table": "leave-one-clip-out calibration table for C076 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C077/sample.json b/Real-General/C077/sample.json
index 7922c4959d1fffcf4612afac1f5c530d8fb814b2..1446cf6eb1f89e75602addfba2d72afd8b071d96 100644
--- a/Real-General/C077/sample.json
+++ b/Real-General/C077/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "f0db21c5acba75d98cfa2409f21f3dd6bed8c437d72be7b8dcc2d21fda6801a9",
   "captions.json": "20e22f7065188c8270d7cbea98aa4e8660969b7702b7055ea75e363cd4d4b3b7",
   "depth/depth.zip": "b155c328bcaf12508d8c9299a1a665a2ad45839864e1ca5000ef3322cc7cb8de",
-  "labels/human/keypoints2d.npz": "9b562a4f77adcfab7c0d15a5172be9c823452ba0b6f889d533b66df447e3956b",
+  "labels/human/keypoints2d.npz": "1faa959aa186aea786f78a7b14d0188bd6ec90557753597633bfbcc99b24670c",
   "labels/human/keypoints3d.npz": "8b44599d6f43403a4928be1b4a028f939b818d0f1a15ac4815b9f8ebe6de3472",
-  "labels/human/masks.npz": "7b900eb9eec069a96f17765b3463b1c7a19305c3cfd2f21c461a932689c9b8ee",
+  "labels/human/masks.npz": "a95be3a4b64a0797a49f85abfd4fd5a48c865c6189c18a444a496a94ca7d9b3b",
   "labels/human/mhr_fit.npz": "d54fafc4900c563596933d846d61139083689c88fa6c3226ce4d7b550f4159ca",
   "labels/motion_events.json": "06f27d820cd59aee7a5388fc499e843f47ffc3311cb56ac7a8273bbaa29367c3",
   "source/bench_views.json": "9acc6af5c65010fa3a12b5a6a2f026611c70472090609a7fdda53d90f2caacc2",
@@ -362,7 +362,7 @@
   "source/timestamps/22684221.json": "65e0fd8bf3982f0640eea1dcc22f25aff505e0ebe27ff020e8affab0fb58d806",
   "source/timestamps/22684259.json": "ba80b26e1bf25358cf48f029f9dd6d3b743cd10b4371b27ac6e89bbdc29b3c0a",
   "source/video_manifest.json": "2e848426f40637efa7faac97efb286a5b073973caf84b7e63631322d726bd4ff",
-  "source/wholebody_meta.json": "3bb6ef528e093cebc008a1b603a2faf1f0344c1da82c65ebd626dde38311228b",
+  "source/wholebody_meta.json": "f9f42634f554ec9511474d8b850bee4b4a6b0ddf487ae25058fb499a66010074",
   "source/wholebody_qa.json": "9333604709aa65158d1a4ffc8db1ac812ea08c7c1d3c32af6ad49d167c91514c",
   "source/wholebody_run_clip.json": "6690b8d65672349fca0c5615ff6ebe12d6f068f04e786da6601c3b15f800c2f3",
   "source/wholebody_tracks_extras.npz": "a7683b3d6c7e6a2211f85555dda980e3fcb1dbc959cc5747daa7c0eccb0f678c",
diff --git a/Real-General/C077/source/wholebody_meta.json b/Real-General/C077/source/wholebody_meta.json
index a584acb3e7fa7505d9dd8854e52ecc262e137419..44705d48c68bc6bb68edcffb1f002b8b403a1395 100644
--- a/Real-General/C077/source/wholebody_meta.json
+++ b/Real-General/C077/source/wholebody_meta.json
@@ -2468,7 +2468,7 @@
    "sec": 1.1
   },
   "_sum_sec": 586.0,
-  "_table": "calib/loo_black/C077.json"
+  "_table": "leave-one-clip-out calibration table for C077 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C078/sample.json b/Real-General/C078/sample.json
index 1eec89687195de916b22a92d29204ed325898769..4895b3cea25001515e3d537230577225030ca50a 100644
--- a/Real-General/C078/sample.json
+++ b/Real-General/C078/sample.json
@@ -340,9 +340,9 @@
   "cameras.npz": "50ad85063db7142bb7a7afe29a633f1479f211f1ce927cfcd85d09a15eea7715",
   "captions.json": "f46391b5f0aac2df5a91a0b17d9d6de60553f3b66c9f3260b827094ae39f91f1",
   "depth/depth.zip": "9f7c01af42313fafa3a8d7653722187389b710a771cfcdb150db89eb99187d8c",
-  "labels/human/keypoints2d.npz": "8c35a2039232edc5d1e9cdf35a301ca82e0e063f1a76656be1b956c82d9c3802",
+  "labels/human/keypoints2d.npz": "1cc5de82a5aa3f9bdaf0a18410550f6c9e9d07e961b424c2609425024ebe71d5",
   "labels/human/keypoints3d.npz": "9fedefd9edeb15949292aedaa85dcff8d90535a2c3188a6af5b2dbbc75178411",
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index 01050c8a10f7b5cfe0431dba438a5994684b403b..03fdf72ba01de732ddf0dbaec597d86b1dc93e89 100644
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+  "_table": "leave-one-clip-out calibration table for C080 (not released)"
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index e4ceff75e2def5d83ad604dbf44cdca486acb2cf..57cebdb59a9c24890d5ceab6009a80ee7c3a9a87 100644
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--- a/Real-General/C089/labels/human/masks.npz
+++ b/Real-General/C089/labels/human/masks.npz
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index 27313c84f54d86e59970b5db92d02ee856767882..087e658c170d969e4338b2c8fd9ef85cbf6ea4f4 100644
--- a/Real-General/C089/sample.json
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diff --git a/Real-General/C089/source/wholebody_meta.json b/Real-General/C089/source/wholebody_meta.json
index bbbe454c09b989a1f4d6accdcfe062406701bf54..b1653a8a4c75628828c477066d64e86c627132ce 100644
--- a/Real-General/C089/source/wholebody_meta.json
+++ b/Real-General/C089/source/wholebody_meta.json
@@ -2543,7 +2543,7 @@
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-  "_table": "calib/loo_black/C089.json"
+  "_table": "leave-one-clip-out calibration table for C089 (not released)"
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index 2dfbf6a0ea8728db206da8357c1ebc4dfeaa4e2f..c35fd7a5e64dd711b3b210d8dd53c33818bf991d 100644
--- a/Real-General/C090/sample.json
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index e7d209343ca80c18a4fb6dc243dadf8a3e163f69..9cd9dec94f1d01e294b5effef5f83d28a2036742 100644
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+++ b/Real-General/C090/source/wholebody_meta.json
@@ -2527,7 +2527,7 @@
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-  "_table": "calib/loo_black/C090.json"
+  "_table": "leave-one-clip-out calibration table for C090 (not released)"
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index 63ba8573b8b31461e16656aade0e8ccbb988c08e..1119a93c560f9eea9d49e352727545be9432d612 100644
--- a/Real-General/C091/sample.json
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diff --git a/Real-General/C091/source/wholebody_meta.json b/Real-General/C091/source/wholebody_meta.json
index 50511f0c7d6f77af8795339e2ac65df56d87bd58..4bdc55bf2770d7d79ca92b97143337aef1401202 100644
--- a/Real-General/C091/source/wholebody_meta.json
+++ b/Real-General/C091/source/wholebody_meta.json
@@ -2609,7 +2609,7 @@
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-  "_table": "calib/loo_black/C091.json"
+  "_table": "leave-one-clip-out calibration table for C091 (not released)"
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index 3cdee248ac23d9bc1656e1881f1a01d9764e3425..90582e7b04eb0308922a0f27f47977f5c84df733 100644
--- a/Real-General/C092/sample.json
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index 219b7a228e36f7ae594a99bd77b7aa40a4e7c39c..7a59b0d2ef4d32a50cfb2a5a1ac2552375a5d0ff 100644
--- a/Real-General/C092/source/wholebody_meta.json
+++ b/Real-General/C092/source/wholebody_meta.json
@@ -2449,7 +2449,7 @@
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-  "_table": "calib/loo_black/C092.json"
+  "_table": "leave-one-clip-out calibration table for C092 (not released)"
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index 77dbac8fce00c6a677f030193bebdcb2cd76c509..bf34fbc659be62f631f30c9c925f6cc8b3ffec66 100644
--- a/Real-General/C093/sample.json
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diff --git a/Real-General/C093/source/wholebody_meta.json b/Real-General/C093/source/wholebody_meta.json
index 5c978d57ca61ef41f09344ce11434c4e02719472..64b8037014e038d2dc47d10e6999a3ac8cb3a361 100644
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@@ -2661,7 +2661,7 @@
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+  "_table": "leave-one-clip-out calibration table for C093 (not released)"
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index 32865c0b6be9cb6ffa86abbd195e961ec76dc9de..8ad97bfdd7acb7828b0bfc6a079db9863b0187dc 100644
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+++ b/Real-General/C099/source/wholebody_meta.json
@@ -2585,7 +2585,7 @@
    "sec": 0.8
   },
   "_sum_sec": 538.4,
-  "_table": "calib/loo_black/C099.json"
+  "_table": "leave-one-clip-out calibration table for C099 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/C100/sample.json b/Real-General/C100/sample.json
index f3548fae35a9e247cf4a5706a4be490b586756d3..57f0c6d3f8dbad89c7542aed2b26f4c6babcd49b 100644
--- a/Real-General/C100/sample.json
+++ b/Real-General/C100/sample.json
@@ -342,9 +342,9 @@
   "cameras.npz": "79cff19f57d80a6465781355efd7b8e05772f4326a16e20b66722c6aa55e5c88",
   "captions.json": "d8eefc7dc767c6e1d0fe01d80413f3094a38128a1e55f69d55ca3a32bd72c441",
   "depth/depth.zip": "0090dd3faf07623a57996e95066bc5f4a90ff8a92014bdc7e9f774529008599d",
-  "labels/human/keypoints2d.npz": "aa4ce26ff8bf6bc75cfa96653ae7ca674dfcd23edab52fbfec268d01e83ba2ef",
+  "labels/human/keypoints2d.npz": "18b8514071d99d6b22b5546db8f184ec6de9fc49c8487d8ad9c15148c8a7faaf",
   "labels/human/keypoints3d.npz": "e9835f3e686e541303b728bbd55e3e4187bcc8bf805c13a4420e89c19b82cf15",
-  "labels/human/masks.npz": "fedbc5e174f213002ac4e17903e4cdd5e91287538b2d887ff969fd8f86af9dc9",
+  "labels/human/masks.npz": "cab20edf87da0023783b123dbfd72ca43da407e6a7015a2a251f3561b92c8331",
   "labels/human/mhr_fit.npz": "2b3b3925da9b8f15de0e01698e6635fbf329c0e1110b47c9945af4c7e97f01f4",
   "labels/motion_events.json": "6cc2746c541a792f19549e700cf0cd2a2b9885adcea62d8d8e5e2dfce5b75a1d",
   "source/bench_views.json": "8afe8ccd945afdb0f5383416d4069c6a8f6a778f066fc52815bb90da47a3c1ed",
@@ -364,7 +364,7 @@
   "source/timestamps/22684259.json": "1db0fed3b37b4df224c1d3f18b574dbed1508fa78238ce9b02c5f745ebc4c71e",
   "source/timestamps/22684751.json": "a7e0101ba7ebdc1eb191f8102cf11fbb405d34b0637afbed99ed1f8e04f1b30d",
   "source/video_manifest.json": "8db23e3947942be3b78a6595d3ba466697310a6be9dcb464cc4a230cc7ea2905",
-  "source/wholebody_meta.json": "2b560ace29da0cefe0f37868f4b3219c467dcc37bace6f477bad29294d8d6f59",
+  "source/wholebody_meta.json": "ff515868c206983707c53e9ef914f8af8686ce8d24ee408fe4aa9b697b3c449e",
   "source/wholebody_qa.json": "2c63a312fb8a807ec89038c7b0b6c168697fbdc2877cd820d07f658e9baad7b5",
   "source/wholebody_run_clip.json": "72e22bfee5affac9d4e0f16692309a0917e453f872b37f4799f36018903c8475",
   "source/wholebody_tracks_extras.npz": "9a5c0645ed1439e910ec59001f99f9845a5705db9c472468357909d2a50b2ba7",
diff --git a/Real-General/C100/source/wholebody_meta.json b/Real-General/C100/source/wholebody_meta.json
index 1c3c71a0b8d0f3a28e42d2b5a94f63d5f43d60f3..26e0a31feeb534f561d38e658b9f8a5b2954e5fa 100644
--- a/Real-General/C100/source/wholebody_meta.json
+++ b/Real-General/C100/source/wholebody_meta.json
@@ -2027,7 +2027,7 @@
    "sec": 0.6
   },
   "_sum_sec": 469.0,
-  "_table": "calib/loo_black/C100.json"
+  "_table": "leave-one-clip-out calibration table for C100 (not released)"
  },
  "licences": [
   {
diff --git a/Real-General/_source/orh4d_tracks_wholebody_report.json b/Real-General/_source/orh4d_tracks_wholebody_report.json
index 52e3e84a3ac93d48de8f7486fbafdcecc2bb7aea..54c12c7c3e7ef4f5821f5d2afbba23ca33e4a175 100644
--- a/Real-General/_source/orh4d_tracks_wholebody_report.json
+++ b/Real-General/_source/orh4d_tracks_wholebody_report.json
@@ -1,5 +1,5 @@
 {
- "root": "orh4d_tracks_wholebody",
+ "root": "per-clip whole-body track outputs",
  "clips": [
   {
    "clip": "C001",
diff --git a/Real-Robot/_source/README_pointtracks.md b/Real-Robot/_source/README_pointtracks.md
index 1879c0d59bf25937a4dcb991a16e1f02bcb24d9e..58430b905d1dad8ad950a2d85ec5600523cb846a 100644
--- a/Real-Robot/_source/README_pointtracks.md
+++ b/Real-Robot/_source/README_pointtracks.md
@@ -26,17 +26,15 @@ pretty_name: RB-Y1 WujiHand2 arm+hand 3D point tracks
 ## Projection
 Points are in the robot base frame. To a camera: `p_cam = R @ p_base + t` with `meta.cameras.<cam>.T_<cam>_base`, then `u=fx*x/z+cx, v=fy*y/z+cy`.
 
-## Differences from the usual bw_jh_dataset format (DROID / RoboCasa / trellis)
-This dataset intentionally deviates from our standard convention — read before plugging into the usual loader:
-
-| aspect | usual bw_jh format | this dataset |
-|---|---|---|
-| gripper/hand file | `gripper.npz` (2F gripper) | **`hand.npz`** (WujiHand2 dexterous hand, 256) |
-| video names | `view1.mp4`, `view2.mp4` (both exterior) | **`ego.mp4`** (head-mounted, moving) + **`exo.mp4`** (external, static) |
-| point frame | **per-frame view1 camera frame** (`cam_from_world`, points already in-camera) | **robot base frame** (project via `T_ego_base`/`T_exo_base` in meta) |
-| tar layout | shard tars of `<id>/` | one tar of `episode_XXX/` |
+## Conventions
+| aspect | this dataset |
+|---|---|
+| hand file | **`hand.npz`** (WujiHand2 dexterous hand, 256) |
+| video names | **`ego.mp4`** (head-mounted, moving) + **`exo.mp4`** (external, static) |
+| point frame | **robot base frame** (project via `T_ego_base`/`T_exo_base` in meta) |
+| tar layout | one tar of `episode_XXX/` |
 
-So it is **NOT drop-in** for a loader that assumes points are already in the view1 camera frame — apply `meta.cameras.<cam>.T_<cam>_base` first. Ask if you want a re-export in the exact usual format (view1/view2, gripper.npz, per-frame view1-cam-frame `cam_from_world`).
+The points are not in a camera frame: apply `meta.cameras.<cam>.T_<cam>_base` before projecting.
 
 ## Notes
 - FK from `observation.joint_position` through the source `meta/robot_model` MJCF; cameras from `camera_calibration.json`.
diff --git a/Real-Robot/_source/manifest.json b/Real-Robot/_source/manifest.json
index 0241fab6ed87aeb90f9bdcf417f363bebf0486f4..3af3bd3f86f28314e35c0ba5b3c5ecb3d1f5ee56 100644
--- a/Real-Robot/_source/manifest.json
+++ b/Real-Robot/_source/manifest.json
@@ -20,7 +20,7 @@
   "EXO calibration dead-on; EGO has a small far-left residual (dataset's own manual ego extrinsic fit, IoU~0.8).",
   "Resampled 30->15 Hz (every 2nd frame) across points/videos/actions."
  ],
- "convention": "points in ROBOT BASE frame; p_cam = T_cam_base @ p_base (T_ego_base / T_exo_base in meta). DIFFERS from usual bw_jh (per-frame view1 cam frame / cam_from_world).",
+ "convention": "points in ROBOT BASE frame; p_cam = T_cam_base @ p_base (T_ego_base / T_exo_base in meta); not in a per-frame camera frame.",
  "point_frame": "robot_base",
  "differs_from_usual_format": "hand.npz(not gripper.npz); ego/exo.mp4(not view1/view2); base-frame points(not view1-cam-frame); episode_XXX dirs"
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_000130/sample.json b/Simul-Robot/c001_episode_000130/sample.json
index 4ba35c882330ce271395eb3fcbd8fd8f32d5b720..684fc097ffa73803f0125e645e9af8381df49f85 100644
--- a/Simul-Robot/c001_episode_000130/sample.json
+++ b/Simul-Robot/c001_episode_000130/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "cbce5ae91a5c4cf5c4a3694c5f64bab3ccb3ebc171dcc4a358b3cc2d343d3cf0",
   "labels/objects.json": "6291d5416db07ee29c35ca5eb4910faf29ad1c8c77e3b71c1830eaee4eb11ead",
   "labels/visibility_states.json": "e03373db1e433f9d56859b4c4a8bcfda76782b4dfbe118b9688045fb74539263",
-  "source/cameras.json": "f57e74c64fb3c5919d7a28820980ad62ccd05a101f0f151f6850efaf9479beb7",
+  "source/cameras.json": "c2aa55c6a10a29d19cec0ef90f72c5b876240725d567d312b651c75b9fed53bb",
   "source/caption.txt": "f522ed1fc6a68661cfa5319dd113bfe567832d6fac2cc78cbcc7e85b44f65b62",
-  "source/meta.json": "91e8f8b9ca0e7424f3d3b46e003973f3711d25b7362802f444def823a532d19c",
-  "source/points_target.npz": "5fe6182deedf4c2b44d72fdcb1f7d3ee11622770d08a9fa1fd27dc86b44dd490",
-  "source/visibility.json": "bd9d1d0933b3e2d297602d223937fc0283bc485b2a1aca48833ffd62d58b3a5b",
+  "source/meta.json": "57556f288ab0a8fd22fe73b0bf2c2f8e522513858cf9171a89a09b51cf31b72c",
+  "source/points_target.npz": "298ef9a5421e2bfcf8f6dea37138737901ec8dfa0ce8e400a04d6c968f4881b2",
+  "source/visibility.json": "a47f0ca70af3b52b64be5c0c6fbb82c0d5b204fbceb7db083b8dab2cde84dbe2",
   "tracks3d.npz": "ae4d0f33454dddf6e786333fde98e81adb7ec886cd1dac84760b1b51b3e479c9",
   "videos/view0.mp4": "2403f3bb2fdde830c3bb40bfc950ebb032bcc937b8c236d3e79936ff4405f94b",
   "videos/view1.mp4": "76795f371b697872bfd5e7c6505c5e0826eb9de14efa2a726e53c7fe2bc736c5",
diff --git a/Simul-Robot/c001_episode_000130/source/cameras.json b/Simul-Robot/c001_episode_000130/source/cameras.json
index dbcbc21b8d03a2ca985ccaff598a838969d766da..4df0305c6dc1cef1c7df28a64077c46d8fc6f765 100644
--- a/Simul-Robot/c001_episode_000130/source/cameras.json
+++ b/Simul-Robot/c001_episode_000130/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_000130/source/meta.json b/Simul-Robot/c001_episode_000130/source/meta.json
index 482e50de19eefe4b384ff2c2770cf91a48b4a7d6..57eaaf5a4c37400f9f98baaaa9bcd18a19d8923e 100644
--- a/Simul-Robot/c001_episode_000130/source/meta.json
+++ b/Simul-Robot/c001_episode_000130/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 18, 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 18f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 18, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam02']: [None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 18 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_000130/source/visibility.json b/Simul-Robot/c001_episode_000130/source/visibility.json
index c7cd79acef5ba5f81bec885b4219edf8d5fc5044..1cc143fefd64191679958998a06282f238154768 100644
--- a/Simul-Robot/c001_episode_000130/source/visibility.json
+++ b/Simul-Robot/c001_episode_000130/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "small_green_cube": [
@@ -7903,9 +7903,9 @@
       "target": "small_green_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 18, 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 18f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 18, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam02']: [None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 18 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -13153,5 +13153,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002200/sample.json b/Simul-Robot/c001_episode_002200/sample.json
index f6063a92dbe8beda09cbfe0acb4377cbad585b77..e09ed246faa2f9aff1c5596579b64691e32473a2 100644
--- a/Simul-Robot/c001_episode_002200/sample.json
+++ b/Simul-Robot/c001_episode_002200/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "2bf309a766b375ef96fbba0e1a40d4be9181774a54c31f3ad529942141ff4d79",
   "labels/objects.json": "207275f77ffdf1a01d9e8ce248e1d5074aec6997d515caf3e03b499debfaf52c",
   "labels/visibility_states.json": "570ae2c1a491f184f53551b14d47d1e37b35230db19366446fd70b4a31f0ca3a",
-  "source/cameras.json": "0e2c183ce8efb79bcd626e2c91f616037197627e86743f2ccc6bd1f47205d947",
+  "source/cameras.json": "05e9b9d1b82ee06020fdbe1b37aae0e617437a083e195f5cc11961248a951f3d",
   "source/caption.txt": "bd38b9bd8e5e59cdc4583fd5c7416a20bbe3111ea321449f9576b14a7b7336f6",
-  "source/meta.json": "21906bb8538876a2f51de13602cc141caf39d4b84b69132d5cc9c50e6c65484e",
-  "source/points_target.npz": "f67f37f40eee3ea12604c36d556599fac88115ad910625792a4990b620f78776",
-  "source/visibility.json": "b8d7e9b654cba2586e41a55adf5f777d23dfd1237ed4ea0055405d74527acf24",
+  "source/meta.json": "5023c14eea8a5e1ac176f39252005a119192e631d514c99a77020f805a4ab8a6",
+  "source/points_target.npz": "c24c4ca12a8bf74a52f94e39cd01f946e7cf726eb5de4a578b46cb888a574b39",
+  "source/visibility.json": "03259147aab7bdb675a97d919a001f84c63b5bf9ebfce0e864e8a9d1c2faa356",
   "tracks3d.npz": "505d2c4cc13285266fbc05bd3bad2f1b6a9aa33926dc209577996c9e7c8478ed",
   "videos/view0.mp4": "8f8b332334dff659290e7f5a384df55d909e8461048289c1fa6aa51afe866120",
   "videos/view1.mp4": "a30fd7370609eb7610737b15bd0ad0470608d431b1095bc4d27dc8a9dc18ab33",
diff --git a/Simul-Robot/c001_episode_002200/source/cameras.json b/Simul-Robot/c001_episode_002200/source/cameras.json
index 11db29b8b399ff07730c9d9847d5035a53d347fb..b534c278667cfc422c736b5fbad666d350bde1d3 100644
--- a/Simul-Robot/c001_episode_002200/source/cameras.json
+++ b/Simul-Robot/c001_episode_002200/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002200/source/meta.json b/Simul-Robot/c001_episode_002200/source/meta.json
index cff4f2be8e21ec4e9d7bc053198fae03d1516a1a..aecae13bb14872e983d5e74a600a55158f2d0c88 100644
--- a/Simul-Robot/c001_episode_002200/source/meta.json
+++ b/Simul-Robot/c001_episode_002200/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002200/source/visibility.json b/Simul-Robot/c001_episode_002200/source/visibility.json
index 4885f48d816826025c8f5e816ac155cc92d901c3..c353e4fe49332efed6a8dfddf1665f711a5ddd43 100644
--- a/Simul-Robot/c001_episode_002200/source/visibility.json
+++ b/Simul-Robot/c001_episode_002200/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "square_big_box": [
@@ -5980,9 +5980,9 @@
       "target": "sweet_corn_can"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9950,5 +9950,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002340/sample.json b/Simul-Robot/c001_episode_002340/sample.json
index 0b496e9423b52b73abe0b83ab190c6454f58c8a0..fd8a6cfaed4d9feba5c512c818d827c053fdae15 100644
--- a/Simul-Robot/c001_episode_002340/sample.json
+++ b/Simul-Robot/c001_episode_002340/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "3495b51f2002279aff1ceb5d19fa727f5a1fbe9b8091e9aebc2f42a83bd0a78d",
   "labels/objects.json": "2652b02ae875948dba9706a34dfe55d4741121e3d3e6bc14b1788efe0861ff7c",
   "labels/visibility_states.json": "4a3f134cf7ad2b522a242a0ca1fc459bf055944ef6f1c357dad71840dbde6b45",
-  "source/cameras.json": "7ab573becfeb06305cd05da095e36ed94e8df618920f3273ccc615ca91ec4d8b",
+  "source/cameras.json": "d1f93f4a070226aaf482bab86ba62846aa170445eda1c7ec69424bffe20146e5",
   "source/caption.txt": "3157e22611a1a36e256ae7e82fe4582bf99ec1c40108aa7d7d41f290fcaff5fd",
-  "source/meta.json": "9f0cddf9b6c308a13edca70dcceecc0e1f8d7286611c5013a37b597863ee8902",
-  "source/points_target.npz": "7f8a9120db9a9c85485b2d3d13f55c4347d7c8905dc8790f69e545555987b957",
-  "source/visibility.json": "8d49c439ad4e6e244199d1baedb8a5360e859fa3c0e95726470dbef5b05cc4eb",
+  "source/meta.json": "23725a236e288fbd8fd81a7e51a08e89f5fac67c625e1448f44091264aa5db70",
+  "source/points_target.npz": "e698ef310e9e6df3a0e112f69e14f74387b715c6922d298f500ce5d92e25d3c5",
+  "source/visibility.json": "8ea2c860b2c5d0f35ab1e1056df8d4b25db1111ee8a936bf2336f7108d2f6863",
   "tracks3d.npz": "e4c3c55278370273d0094598f4f95ecf36ba9ccad678aaafa915e3f808e81492",
   "videos/view0.mp4": "3752b5b909809d426ef0eea8593cc915ac81ced1b1b9de078710b372e72fa9ba",
   "videos/view1.mp4": "bad2903d86ab299886bce31b9bfd7d5a5db249626be00f960304ec13375a9d96",
diff --git a/Simul-Robot/c001_episode_002340/source/cameras.json b/Simul-Robot/c001_episode_002340/source/cameras.json
index e19466fc0175d9166897811e3aeac8993738d8e0..b9e8db21720984c170bd9e64cf4e036a8ec1bd31 100644
--- a/Simul-Robot/c001_episode_002340/source/cameras.json
+++ b/Simul-Robot/c001_episode_002340/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002340/source/meta.json b/Simul-Robot/c001_episode_002340/source/meta.json
index 4cc1d05a6e1f6f7b48cd9b907b2074be1dad2510..355587c495e9d372a290ce956066eabdea9c43ac 100644
--- a/Simul-Robot/c001_episode_002340/source/meta.json
+++ b/Simul-Robot/c001_episode_002340/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002340/source/visibility.json b/Simul-Robot/c001_episode_002340/source/visibility.json
index 16f3484159888f09763167b254fe85ce4a705e18..de0ca39bfe5a85399d6e5f5644d3d38964879045 100644
--- a/Simul-Robot/c001_episode_002340/source/visibility.json
+++ b/Simul-Robot/c001_episode_002340/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -6280,9 +6280,9 @@
       "target": "peas_food_can"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10450,5 +10450,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002360/sample.json b/Simul-Robot/c001_episode_002360/sample.json
index 1bda0e7ee6d2c7b0ed3e00a6bd86f1071d337c1f..5598b27292615c520fe9e5949971833f5d565992 100644
--- a/Simul-Robot/c001_episode_002360/sample.json
+++ b/Simul-Robot/c001_episode_002360/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "c9ca3254c0911eb00ecd4daa4b8f17e6b69ec6463f090cddaa3096327f0b3c7b",
   "labels/objects.json": "56d190f971dbc0941d6f60bd9a3bc48138f9c67e78b3770562946148180d0d78",
   "labels/visibility_states.json": "aee1427073e72a7ca21d8cfc421cf234a99318f03373b8aaaa836ffdcbdbbde3",
-  "source/cameras.json": "40d2b999f0a4833c89e8e2a9072231000e8605d367b2c3b963a8092b8ffd1ac8",
+  "source/cameras.json": "1dbf632e6b588cc652aae961467a52e5a768869106caa249bc55cefbd5668cb6",
   "source/caption.txt": "3dd2818f68fa94c31d43bbf148db03c115ec2556e9755f29ff8546dfbc0b9e60",
-  "source/meta.json": "e1755b87832b40308d8c8fae758b9cf31c47cc960d3c65ee6f0c1a4a4653b385",
-  "source/points_target.npz": "44f796d12c5b13946cb4faacc59fe6a50e5c3ba670ce43bad9b1d30a7747a820",
-  "source/visibility.json": "6ca8253549f0c1ed6bfb1d7953de9213cdfe398f0e20fb6bd4b256f5d8599ea4",
+  "source/meta.json": "eb739843bc198ba740f7635b11be66516efe97171bd1e98f5421f9206314a819",
+  "source/points_target.npz": "743165efe03dc0918cfed4172a2b3787e5103f63a5b172ba3e6273401b498e20",
+  "source/visibility.json": "a1ae728d115cc56664516e727a7e4e3632e03ce9843ffea9d6e14500c4de174a",
   "tracks3d.npz": "84b8537ddea33c353a9bfb1531e97243eae5c09ad1e3a1192109f96b0e6f6566",
   "videos/view0.mp4": "73606d9963a245ebbba8f880bf3a1bcef669364ecaf75a4757c46dc04930627a",
   "videos/view1.mp4": "01967316eae5d8bbeaed2b330b845a2021272ad8013bf9b4948f357075a107ee",
diff --git a/Simul-Robot/c001_episode_002360/source/cameras.json b/Simul-Robot/c001_episode_002360/source/cameras.json
index ff88b76e13fa5b78518e696f5a3f6d5d92e9c9db..3dda3dc10a26e266a971e577a2dfb0f40cc9bc2b 100644
--- a/Simul-Robot/c001_episode_002360/source/cameras.json
+++ b/Simul-Robot/c001_episode_002360/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002360/source/meta.json b/Simul-Robot/c001_episode_002360/source/meta.json
index d02a4bf9b231f9f54e0158aec4a42eae31879cf3..8d7d949a729aa4eb249f7ad17e9dba9609a6e072 100644
--- a/Simul-Robot/c001_episode_002360/source/meta.json
+++ b/Simul-Robot/c001_episode_002360/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 4.43] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 4.43] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002360/source/visibility.json b/Simul-Robot/c001_episode_002360/source/visibility.json
index 0d7d2c4e28ff7478fc97cab8101fa050b61f72c7..749b1f45a7cc0f159710819ac7e0c79168497ee4 100644
--- a/Simul-Robot/c001_episode_002360/source/visibility.json
+++ b/Simul-Robot/c001_episode_002360/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "sweet_corn_can": [
@@ -5713,8 +5713,8 @@
       "target": "sweet_corn_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 4.43] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 4.43] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9502,5 +9502,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002370/sample.json b/Simul-Robot/c001_episode_002370/sample.json
index bcf5b766675d9b54767bffe207b1b0cc4dfddff5..624f3b60a9bce0007528d201e85a28d8c7414f1c 100644
--- a/Simul-Robot/c001_episode_002370/sample.json
+++ b/Simul-Robot/c001_episode_002370/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "195a922437f5a9312794b443185aa0e55756de0c34d938e6f914f013fa77bcbe",
   "labels/objects.json": "9aae13aad46ddef7675c6808d6a3ea44b693fc94187871664876b2cface53cf6",
   "labels/visibility_states.json": "8e02a7fe44454c37d372a6ed9d1f810fe84b986e1dd3ccc69cd15c8bc0614d9c",
-  "source/cameras.json": "361c0c68a0ba0ee8c6f3bb529198842181932445d59aceb34226a4855f55645c",
+  "source/cameras.json": "23deffc4c996586d023fe7843d1d91399dac925d2d2a1a907359cd018d911273",
   "source/caption.txt": "915d6b0b264a1741d4e7b3130a38d6fcba33e5614c4f528685b434c6be4e4f70",
-  "source/meta.json": "293cd1fe134abc5f33790555473d77fd4fab0b952400a9719acd6f6e870f28aa",
-  "source/points_target.npz": "887f75ddfc65dd9fb713032569f0c64d6bce53b495c5da55ce7c2c0e01bacb1c",
-  "source/visibility.json": "3a87ba39a74ec86d6d8e1a23e6271b4e0dd62b8dc034c5da521bf1f09a1794c6",
+  "source/meta.json": "a359eda9e2be4e31ba62ebfa16e56875a6545a63938e8209e0bdeb6e978a6be1",
+  "source/points_target.npz": "76a91875dca310b635fda227d1dc6f3b4ccd386550724509c8452b894cb98fa9",
+  "source/visibility.json": "26338a9b4fd24e9059daa68bb1913471cd7284c6a84e8d856ebfb2df42adfe9d",
   "tracks3d.npz": "c5e5f4ca740eb3aac00cc95bbe84cf01d3e323475ab7d38e31470982c1ea2289",
   "videos/view0.mp4": "48e3b554e5ab18e4a9772362a1047d45453b0c962829000a4a6de23eb155a46e",
   "videos/view1.mp4": "cd8469b38c722fbaf48105e032b84d5d078083324d9b48d0c47fc5d9723e80d9",
diff --git a/Simul-Robot/c001_episode_002370/source/cameras.json b/Simul-Robot/c001_episode_002370/source/cameras.json
index bf3a76a8864047d96849efdc60ba0ead80d77c56..b8fe48f86cb27bd01b3dba9cca39841dbbf1d55c 100644
--- a/Simul-Robot/c001_episode_002370/source/cameras.json
+++ b/Simul-Robot/c001_episode_002370/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002370/source/meta.json b/Simul-Robot/c001_episode_002370/source/meta.json
index 9f2f716d92cf11465a960521940d1ae40275f242..7174665b86039761bbcb41eee8a1a262b7435367 100644
--- a/Simul-Robot/c001_episode_002370/source/meta.json
+++ b/Simul-Robot/c001_episode_002370/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002370/source/visibility.json b/Simul-Robot/c001_episode_002370/source/visibility.json
index 09bf850ec4178dda86a04c669afb4ee490237ba5..9cd3bf9057ded97812492f7de02b2ea6781394c1 100644
--- a/Simul-Robot/c001_episode_002370/source/visibility.json
+++ b/Simul-Robot/c001_episode_002370/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "orange_juice_carton": [
@@ -6490,9 +6490,9 @@
       "target": "orange_juice_carton"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10800,5 +10800,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002400/sample.json b/Simul-Robot/c001_episode_002400/sample.json
index 925155de5b840b17e474371e12eb92d8f6a268ef..38a1316062cc8c4d31d37241f2b9e01ab87a2e57 100644
--- a/Simul-Robot/c001_episode_002400/sample.json
+++ b/Simul-Robot/c001_episode_002400/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "8f638463473c3a85206695bfd1d9bd210fb7a443ac373c77797de2bd1945db05",
   "labels/objects.json": "1e8dedebb878956a2682823a815944f4ca929faac4661ba0a9d2f44672d7acc1",
   "labels/visibility_states.json": "b653ec47e10ea7b5507cdb2fe1106ae0c6022a3d8a7171a146a56c07ecb30864",
-  "source/cameras.json": "7ee0d9882afc67bc16ecbd5f5662f55ccf3e9ced9d8bd43e8975f8f004e3724f",
+  "source/cameras.json": "aa77d003878c1a382f3aa1065db50ea58eba15eee19e75732b89a5dd4e84b787",
   "source/caption.txt": "7a76f63c6788e4125487bda80d1db515e00522eacabadb3dd30b10300baf04e9",
-  "source/meta.json": "39439b79323a42be1e3d588fec2eb06e93a85674a233accf1195d96a3655986e",
-  "source/points_target.npz": "01d9824c186641a3f4e2221f4b5d77149d1a68f24149f6e6c395a3b1a3c335aa",
-  "source/visibility.json": "475db6dd9f3eaf04e60f43c81f09102ef8c98db1408c9ad27e88403bd10a5628",
+  "source/meta.json": "30bfd439d53192addc36c5fd75c388e411e9c68f333cd0519eb5ef015b6ce18c",
+  "source/points_target.npz": "2f7e4d6c2a301d23f9d0a76c25e352288d2118370c0b9fd56daa87c0b0a1f327",
+  "source/visibility.json": "87f084d797f99c9b7c78f7b3a157aa9aa952ccd46a1a285ca5efcda061addf2e",
   "tracks3d.npz": "1a57a81a177750f7fa1fde63e56c6eb2b004df07e038b4f4c94d722ef6e06f36",
   "videos/view0.mp4": "1e618b90380f4c5a05dc73da522a9b56ad4ffe4cafa4eabb0f9bcb3044480fb8",
   "videos/view1.mp4": "24e912924ec28f8a252186c50464bbafaa612b6f80fcbd5b5fd933564162bcdf",
diff --git a/Simul-Robot/c001_episode_002400/source/cameras.json b/Simul-Robot/c001_episode_002400/source/cameras.json
index 8815ce3286c5aead25b481ce41e4119b5629720e..8412747be2c8f20e5eb4b7018dfee9ccb403e752 100644
--- a/Simul-Robot/c001_episode_002400/source/cameras.json
+++ b/Simul-Robot/c001_episode_002400/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002400/source/meta.json b/Simul-Robot/c001_episode_002400/source/meta.json
index f7cb8e2bdbeb1a18bc3082f1311ca10f03f3cd62..5831e3968cc155531381791378c878e0fe87a5d7 100644
--- a/Simul-Robot/c001_episode_002400/source/meta.json
+++ b/Simul-Robot/c001_episode_002400/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002400/source/visibility.json b/Simul-Robot/c001_episode_002400/source/visibility.json
index 32b3dcba721ecfa0816d3e91d15648cc97970947..e435607cc9cfd10de6a757c9b39ddf35d93b7f95 100644
--- a/Simul-Robot/c001_episode_002400/source/visibility.json
+++ b/Simul-Robot/c001_episode_002400/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "ranch_dressing_bottle": [
@@ -6190,9 +6190,9 @@
       "target": "ranch_dressing_bottle"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10300,5 +10300,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002680/sample.json b/Simul-Robot/c001_episode_002680/sample.json
index bb3c4ef2bc28a7d7f9a42ab8114cb48e953ff9f1..ee7594e12edbd627c6cb67df02765ef268e93991 100644
--- a/Simul-Robot/c001_episode_002680/sample.json
+++ b/Simul-Robot/c001_episode_002680/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "5a529feb994867c703b7ca3fd93256c3c524212155ce0179caea35c722a437ca",
   "labels/objects.json": "a8b7287a37286c1ba4409f79d62e8e994ee5a72d4745052501dfc997a44dbd17",
   "labels/visibility_states.json": "159c7dc159e9ca396aae045a0267947e2a83cc644430fef0dfdc445f4428fd27",
-  "source/cameras.json": "6c0a35b586db69e4949343372f6554edb1aa19e365a9754b55f81eeebffb170e",
+  "source/cameras.json": "62272f605a05a358b63bd0f0e2c293da6edad28cb3f2bc71ad9d31452492f37c",
   "source/caption.txt": "b9bb2e917f1175bf9babe0b7da9bf914638e62142298aa758cac65b5af23fdab",
-  "source/meta.json": "22195b4da86d133bf6c4e20bf5a56de41648d3a4ebd93885e2f9cf878eafcc92",
-  "source/points_target.npz": "9465333654b25b9b8520b1e5909451e42cea9b94f3c5feef8f7068876210be47",
-  "source/visibility.json": "965cfbe0ef111d849013dac2e4fa13e7a8c265e065cabe4e854fe14027a13032",
+  "source/meta.json": "2290b79871072c039e8c8781b6768476ea7b0998ae4b3e680278bf3e8abf391b",
+  "source/points_target.npz": "1064210ad3f8ddfb48d0e42b53c150c40d1fe93b9e656cded2f987837dd073b0",
+  "source/visibility.json": "dc847be106f8fbd6c2d3dd70a54c2369b85bc0b609e860e810ef811b2d5ffb23",
   "tracks3d.npz": "53bedf9c7db681428b14fa5998efa476bd02714f79bc20f569e038b3121212d7",
   "videos/view0.mp4": "0561a8b64e089bae2f4b103d81cd83ac17a985e3db7dddf8c4049072a0215fb7",
   "videos/view1.mp4": "e2ab72e03b4f2e0ecb6c6eaa06b337908f30de799ea15b5481aa5f5e148a5437",
diff --git a/Simul-Robot/c001_episode_002680/source/cameras.json b/Simul-Robot/c001_episode_002680/source/cameras.json
index fe8f7a7f7349a945b5904b95d0fb6c24b7bb14e6..209d896e0897aa9269b2964adb1547098d9c2bdc 100644
--- a/Simul-Robot/c001_episode_002680/source/cameras.json
+++ b/Simul-Robot/c001_episode_002680/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002680/source/meta.json b/Simul-Robot/c001_episode_002680/source/meta.json
index d2e9f6c1494fd9ab7a6c6d854b772639b20e5108..9c8f5248cc33d7454782743322a93d7965d549d0 100644
--- a/Simul-Robot/c001_episode_002680/source/meta.json
+++ b/Simul-Robot/c001_episode_002680/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 4, 1]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.17, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 6f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 4, 1] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.17, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 6 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002680/source/visibility.json b/Simul-Robot/c001_episode_002680/source/visibility.json
index 109c931aaf6a4d9d7b42f0e221c12c18b1e922e1..ad265026a9bad1fff3d87eae48a88e6120753539 100644
--- a/Simul-Robot/c001_episode_002680/source/visibility.json
+++ b/Simul-Robot/c001_episode_002680/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "raisin_snack_box": [
@@ -6196,9 +6196,9 @@
       "target": "raisin_snack_box"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 4, 1]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.17, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 6f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 4, 1] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.17, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 6 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10306,5 +10306,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_002750/sample.json b/Simul-Robot/c001_episode_002750/sample.json
index c9d02d058e33434a0c6b6e3ed56631d205996037..c1bb2f301fc3d539ba35a940a8003d0a8f5949eb 100644
--- a/Simul-Robot/c001_episode_002750/sample.json
+++ b/Simul-Robot/c001_episode_002750/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "3a8e90004990cc40193602e7febf2d81c0331595741c89c7e3dceff127205535",
   "labels/objects.json": "44eaa5571ccd3c71737b3348ea78f6f7ff5af4f1dbaee7f1317945bbd03b3be2",
   "labels/visibility_states.json": "2bf7aaade7c39851d06a1f15bfc62ac1d6f2d7b96d7e30b188e89c47f777e988",
-  "source/cameras.json": "e07bb76f74d70f69b965f08902c7458c664b2adc120c3dd193ed000fa21b8c2c",
+  "source/cameras.json": "1456936d230d56e72d2bf69f3d9de79dfeb2844471651adb1635911639b9fbe4",
   "source/caption.txt": "68fb79a3e10372b09298219d94eb097c89485f61737449b505e24349c19dadc1",
-  "source/meta.json": "5a13cf81276dfa461d9da099abb0cce0e93e05eee6a6ab84e5e3ea135befce6f",
-  "source/points_target.npz": "b4222c4a4527a924f96d9367359beaee173320889d3003e348a4a552e4df240b",
-  "source/visibility.json": "ca6322a02d01707156dda125dccf23ecdd4134ff1e0bca2a077d52fcafa0bbb6",
+  "source/meta.json": "131c6db31b2837185cb9f339ddb2ef1183acf6230065f4bc63f27272c777ef47",
+  "source/points_target.npz": "ef98f99365c7c43aee4c930cacfbafb240d57c0ecb65a6f8e3fef8fc597b04ec",
+  "source/visibility.json": "697febfe4df0de6062ae4a22faa79fadd353aefd49b6df762a4d67871f47d981",
   "tracks3d.npz": "1636c78ed6e6e7970d313727882dbfcb1dc6ff3f1ae91ac34e564e2c73696965",
   "videos/view0.mp4": "4953f0da9bb13dc3effb859935a0d2acb9656633862b4436db39b0ea695a40e1",
   "videos/view1.mp4": "ed488a5b9bf5cd9ff7a5acd1ca9c5ac8877cd1d7857820c9ce4067ef36b8ab81",
diff --git a/Simul-Robot/c001_episode_002750/source/cameras.json b/Simul-Robot/c001_episode_002750/source/cameras.json
index 77a568bc3680353e408f79cc1d0b28c196ed90bf..5b9e05407ff13623e5f255929fd994ba4b669f98 100644
--- a/Simul-Robot/c001_episode_002750/source/cameras.json
+++ b/Simul-Robot/c001_episode_002750/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_002750/source/meta.json b/Simul-Robot/c001_episode_002750/source/meta.json
index d7e5fd9a4e41b24425ac59171569f0297495edae..10c0229c5c36c790a0be255abf0e4d01c5c8facd 100644
--- a/Simul-Robot/c001_episode_002750/source/meta.json
+++ b/Simul-Robot/c001_episode_002750/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [2, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.05, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [2, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.05, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_002750/source/visibility.json b/Simul-Robot/c001_episode_002750/source/visibility.json
index af90bd93cf902ea53540f6155ab2c960d613735a..a1eee723911e71ed653e108e6ef42e73cb13a44d 100644
--- a/Simul-Robot/c001_episode_002750/source/visibility.json
+++ b/Simul-Robot/c001_episode_002750/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "square_big_box": [
@@ -5593,9 +5593,9 @@
       "target": "yellow_energy_drink"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [2, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.05, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [2, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.05, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9303,5 +9303,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_003000/sample.json b/Simul-Robot/c001_episode_003000/sample.json
index 352bd2e3b17e03596521482fcf12432a080489a9..8c81603d527edd13e1345b0e5474ded0f5842cba 100644
--- a/Simul-Robot/c001_episode_003000/sample.json
+++ b/Simul-Robot/c001_episode_003000/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "a27a23744af72a29a44731da14c7b0ca2077c86f61ab6e12a0eacd8f3ab92b76",
   "labels/objects.json": "787c2e19b2c083153a99ee12bdd130bd8ded20b93e8efc1f921edb0fee7de156",
   "labels/visibility_states.json": "ded943be6749f327fae37a13df776723c0fbd24bf4d19c2f917abd723955df27",
-  "source/cameras.json": "be01d8c89c4e04effc108f3a52e08dae2abd46fa0ab14cc8feff17a8a5be0905",
+  "source/cameras.json": "2415842642e7616035d578e874f0b93eda733d40b5daffba4157cb8e7375814e",
   "source/caption.txt": "e307bc1eb660be85731ebe8f39f2ccdc524c935392e932760a122e88c381e925",
-  "source/meta.json": "d98cfc695ec0b7ad15f12ff186349b54ec9ab997f41d9f8bbbfe58e7194a5844",
-  "source/points_target.npz": "eaf3b462bb6e67461d656b10cd4556342b5719b22c178a7093dddd83a32b9707",
-  "source/visibility.json": "54a8a593b8ea6d2395ee5883b89b82b3b9d23c8553c345021a055c6a4176a6b0",
+  "source/meta.json": "4e0ff9a9c6e45e6f62c67876c81b0074bac999077e8be9721bed91d2929fb791",
+  "source/points_target.npz": "207fb035027c084e14cabb15d3857acbe0d5d35fbae7eaf1293189302b465297",
+  "source/visibility.json": "2ab91c520c91144275bb074261285028b0031acb5c7594f2bd04928591e786d9",
   "tracks3d.npz": "ca803cc95e2a2b73a22398675b3360a8c2f697607e9bccae4936573bad69712e",
   "videos/view0.mp4": "42cf21e6bd2df38f15a5d41cf95395d73d26edf9c2c6bd5c5f417b5e9226466c",
   "videos/view1.mp4": "85fb2197cf13cf2465d554d575713f66be544f78bae748022ff62c3c50f02cb6",
diff --git a/Simul-Robot/c001_episode_003000/source/cameras.json b/Simul-Robot/c001_episode_003000/source/cameras.json
index dad55b7355ab40cee84057b0c611e7f7f3cf5269..af4e0c62ee30ee870ecc986258d443af4242e51b 100644
--- a/Simul-Robot/c001_episode_003000/source/cameras.json
+++ b/Simul-Robot/c001_episode_003000/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_003000/source/meta.json b/Simul-Robot/c001_episode_003000/source/meta.json
index 4b014f8fe6d0be8086352e24fa2439ab2112f57d..1d55ece5f21006072896f61fa51b7b5a4f1667ee 100644
--- a/Simul-Robot/c001_episode_003000/source/meta.json
+++ b/Simul-Robot/c001_episode_003000/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_003000/source/visibility.json b/Simul-Robot/c001_episode_003000/source/visibility.json
index 322be9752810592cd2bd7e7f886a5efe0f06d652..2f969c2beca1b086b3050e5304cb03f96205c89c 100644
--- a/Simul-Robot/c001_episode_003000/source/visibility.json
+++ b/Simul-Robot/c001_episode_003000/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "orange_juice_carton": [
@@ -5530,9 +5530,9 @@
       "target": "orange_juice_carton"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9200,5 +9200,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_003130/sample.json b/Simul-Robot/c001_episode_003130/sample.json
index de060a6e62e08b7f9c909af3c54944941d42aaec..ef10d3962341ee381191e26e7445acb00f7b7d0d 100644
--- a/Simul-Robot/c001_episode_003130/sample.json
+++ b/Simul-Robot/c001_episode_003130/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "5552b762367e50731699d0edb7b15c9a0a15858c4a252c477d8bb4793c580dea",
   "labels/objects.json": "a84e657fc825ecbb8ea43a78f9b1472f381d91233a212e6b31d73adebb705b00",
   "labels/visibility_states.json": "9c4ffb1fcda4491ee811e5b008d8fbb8096310db1ce256835a7f7fbf3676b2ba",
-  "source/cameras.json": "e9745f3bcea8864a0380ec73298a4447c4f08335c7c646271e5f796411be8803",
+  "source/cameras.json": "972875045dd7bc67f6f77117f090d150033909bb484146c532038c505a72d6dc",
   "source/caption.txt": "8241625d8822f61ea3098a270ee5c4034b239e2884fe9c2af807f8dd9cc4a17a",
-  "source/meta.json": "1fe87b6ff339aac4039dfdaa3ac747a1d60ac03c7d880dade9bca3102b5ca298",
-  "source/points_target.npz": "9dc4dc1e7ddd350f33c688e8d01a5b1c017821d6e6309c8e9fb0518e03705fd8",
-  "source/visibility.json": "84ee55082d8980282f5ac848789c16611a4668fa1a5bf6b31d5ccac5016139cf",
+  "source/meta.json": "905b7951dd5859bc954dca12d2b539824542d53a155e6adfb3a14c28003cdc4a",
+  "source/points_target.npz": "7a01b2445e147069a17260de41c75b511c7a63c7c999524977a842768f0b864a",
+  "source/visibility.json": "7ab7facb9c9e79cd7dd643cf3c5d23c50b7a0dad4222452e62811463babfda8f",
   "tracks3d.npz": "5e617b36ce615b37872a70c0c68cee77bfede99a8df7765c36c05af31329cd38",
   "videos/view0.mp4": "614789b57e578f4a8fdf47496519b7d684dabeb8bdab3a980794bcda68388866",
   "videos/view1.mp4": "a743febb3e7aa43c4d8c6a9c1f0bcff56be249b99a7a7af365fbe5d86a65238b",
diff --git a/Simul-Robot/c001_episode_003130/source/cameras.json b/Simul-Robot/c001_episode_003130/source/cameras.json
index 71b77fc9387d43ba43b4c996c030f5b1d3f202a7..323f1cb11ce2b7fce5b04c3c589e2bd827660396 100644
--- a/Simul-Robot/c001_episode_003130/source/cameras.json
+++ b/Simul-Robot/c001_episode_003130/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_003130/source/meta.json b/Simul-Robot/c001_episode_003130/source/meta.json
index e407b821ad64cf257b738adf2099a0048a35bd1d..3fc1271a4479f06feb04eda570e9ec186bdd2c42 100644
--- a/Simul-Robot/c001_episode_003130/source/meta.json
+++ b/Simul-Robot/c001_episode_003130/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 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 1f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 1 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_003130/source/visibility.json b/Simul-Robot/c001_episode_003130/source/visibility.json
index 3e74bccded38fdd9a2dd19ebc4b529f366048f6e..90c7692f609b232e580588de0aa0d38ee87b2acb 100644
--- a/Simul-Robot/c001_episode_003130/source/visibility.json
+++ b/Simul-Robot/c001_episode_003130/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "potted_meat_can": [
@@ -6013,9 +6013,9 @@
       "target": "potted_meat_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 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 1f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 1 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10003,5 +10003,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_003390/sample.json b/Simul-Robot/c001_episode_003390/sample.json
index 4426651da319b600f8994dd2f5ebd671a5c7d2fe..7d464c66d4cb6df743020aee5c998392bd1e1df4 100644
--- a/Simul-Robot/c001_episode_003390/sample.json
+++ b/Simul-Robot/c001_episode_003390/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "7644aa0663cabbe1b4c1235c649b3ca185a715893bbd419e59bc40c297b4b2be",
   "labels/objects.json": "2f10acdbb3b47e3aa7fa9a48acf30217bb46b832f2456e009a72e500e000a62d",
   "labels/visibility_states.json": "bae8be4b7d734c8093881116e20dd3095facd1fba14f3535d118382b6515ed8e",
-  "source/cameras.json": "81000ac9f62d1a0b02b1bb1640d73979b34d9cc30e716996f7e2f7f76928767a",
+  "source/cameras.json": "1ef7db3ae161f4155678d27ac0d04da365d2da7917ef7b5b37585162be55fd3a",
   "source/caption.txt": "bb890547fe6e260bf3e4998d27fa328d1763e61525c780ab5e8cb516ba687901",
-  "source/meta.json": "f86e5610538f00707fac7a1114cfff47d74519d7c600bb78c61279ffa0dc4fb2",
-  "source/points_target.npz": "732e4424e47550278eaae4a73cb019cd1ee35611b029f87459de5f5968cfa126",
-  "source/visibility.json": "3e6f272d982e415090ef6961c2f7631a4e335897a945940b705b5e69f8971ccd",
+  "source/meta.json": "840d2aec60ce590c6804a3dd2f6a01259ff15fe934187a9a679e7f72aacdf03d",
+  "source/points_target.npz": "e39a99100c3888d0bbded90175a7b689f486bc12f9a3cc170dae05234525e651",
+  "source/visibility.json": "3ac79cf5ac53b775354ea9fee70cdc6009e8fe7b3fd0354862389fd9dabd40f2",
   "tracks3d.npz": "5079d38af0b810ec7e7dc405c6ec74cacc85a277bc01167ce054c9db50d7db49",
   "videos/view0.mp4": "51df492b191f0d8d94c9aa6ebbe67e95a0e070cb7fb8d91078ae124921482a00",
   "videos/view1.mp4": "ee8d701fe8f27706a48dded5cc5b861cf25cd2f50d524102948a410b79b1838d",
diff --git a/Simul-Robot/c001_episode_003390/source/cameras.json b/Simul-Robot/c001_episode_003390/source/cameras.json
index f9e29f7fd3180cc4acbae6ae21b73622ec003737..33e5acd5741e04c1d8b54ea09da90d8ab44086da 100644
--- a/Simul-Robot/c001_episode_003390/source/cameras.json
+++ b/Simul-Robot/c001_episode_003390/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_003390/source/meta.json b/Simul-Robot/c001_episode_003390/source/meta.json
index c8f97e0163c83cc68e359b7f2475327b275dfe79..b2c195b557726a99874f4ee03a24441140269b0f 100644
--- a/Simul-Robot/c001_episode_003390/source/meta.json
+++ b/Simul-Robot/c001_episode_003390/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_003390/source/visibility.json b/Simul-Robot/c001_episode_003390/source/visibility.json
index fe68598d13ffbfc883a3f29a0847373a0e5bd58c..1fcd590753f0fc210af5ecbba92f411811e800b9 100644
--- a/Simul-Robot/c001_episode_003390/source/visibility.json
+++ b/Simul-Robot/c001_episode_003390/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "ranch_dressing_bottle": [
@@ -7630,9 +7630,9 @@
       "target": "ranch_dressing_bottle"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -12700,5 +12700,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_003600/sample.json b/Simul-Robot/c001_episode_003600/sample.json
index 07e80a2aa8a6f0bfb42be07fa633ffca06f1dfb9..bee1212b4df111975bcb6c571f538b1fa56ba325 100644
--- a/Simul-Robot/c001_episode_003600/sample.json
+++ b/Simul-Robot/c001_episode_003600/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "d61b076df244c03a86459d4ebf16e4fee3b279d0cef5c1e064b610f42edef94d",
   "labels/objects.json": "bcea99029922bfab4607b687f3caa2d1b61d7f6e7d045764871819463a13e2b9",
   "labels/visibility_states.json": "9387375b184bb0c45e7f1ef4fe3d6ed2a8fdc329ae48cec5d15b0fc12371a1e9",
-  "source/cameras.json": "67c7ed67ed3416bca5350f18e72ff4b00f660bc027a132f200bedf7ef6791acc",
+  "source/cameras.json": "005c1360f7e1e5efbb400903e6119c717b0d33b26d4cd704e599ff8719f2e89f",
   "source/caption.txt": "d2d1503c735e1912ec69d5fa97b0256f415e948cf92e86916f154a6a0fbecdb4",
-  "source/meta.json": "944be69d1fc7d49350e48d800895fd26d70645d04a34952db8c82272dc4ab8f2",
-  "source/points_target.npz": "74a7c8478ca80301a68d94f66da37e6825174115a4990e7d131b7165d91d3801",
-  "source/visibility.json": "1aff203338008671870a77dc1513adbf59cefda74fe840a093ba9be05b95b752",
+  "source/meta.json": "31b890871d18f40628298d24d9cec5e636a312c025f8858be3c2c5cb76922764",
+  "source/points_target.npz": "3434491d0d4b799be5bdb2a4063e5d5c5f0beb147a49eb2bdf284737b41257d2",
+  "source/visibility.json": "06c6dea745fc4835d4836ddb562ff4efe5e423c9cd6a6fa7aedfee77232453af",
   "tracks3d.npz": "6e13609843d164b5f9b30fee7de5101ed9f1f635b40e99b5a0c1d25407e7d8f7",
   "videos/view0.mp4": "f6b4933a387bdc8079a0d5e298f1ea1d6d3f255520bf45300f21ca295d65e67c",
   "videos/view1.mp4": "74fe18a6f4cf07137501a3092221d65b6739a0d032ea396255554375bf09ba17",
diff --git a/Simul-Robot/c001_episode_003600/source/cameras.json b/Simul-Robot/c001_episode_003600/source/cameras.json
index cd06acd6c5ac80b7e1e756ac8fb7bf90966180d6..a3975a0a439e7b3edeb0f03385ac424b7e4b31b1 100644
--- a/Simul-Robot/c001_episode_003600/source/cameras.json
+++ b/Simul-Robot/c001_episode_003600/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_003600/source/meta.json b/Simul-Robot/c001_episode_003600/source/meta.json
index 4ed58cbaa1076329038d3a9791a5a6978700f015..29ba13d05dfc91c10528f5bd81a73c520ef2b7f2 100644
--- a/Simul-Robot/c001_episode_003600/source/meta.json
+++ b/Simul-Robot/c001_episode_003600/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_003600/source/visibility.json b/Simul-Robot/c001_episode_003600/source/visibility.json
index f0cdd647af1123300bb811753a8f24c779ccf7d4..8c0e64001d44a79bf11b03f7cf52a7b1d78552ff 100644
--- a/Simul-Robot/c001_episode_003600/source/visibility.json
+++ b/Simul-Robot/c001_episode_003600/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "raisin_snack_box": [
@@ -8980,9 +8980,9 @@
       "target": "raisin_snack_box"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -14950,5 +14950,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_003920/sample.json b/Simul-Robot/c001_episode_003920/sample.json
index 9885d2f05ba9f6c776f4ab1df32cfeb5ea39607f..f6c714138ad235ffbed5db539fb4c0b28ac4ee8d 100644
--- a/Simul-Robot/c001_episode_003920/sample.json
+++ b/Simul-Robot/c001_episode_003920/sample.json
@@ -222,11 +222,11 @@
   "depth/depth.zip": "afe3cbaa24345789aa4d67be9a705f63b441e3e4f7db6096d4179d8ab5a884e8",
   "labels/objects.json": "340833c721d7f3a0bf3086bcc191b150b493ec667989a4daa25af1adff3376e7",
   "labels/visibility_states.json": "c04e6b2df71c489a13c86c4c6079653a5c84019c427d412026f53ccc8243e990",
-  "source/cameras.json": "9d9ad3010b74696959c05a1f1594be0c238b02bd5d6465a7e4e9fd453670c0c4",
+  "source/cameras.json": "de3086bf898d8a30e9c7941f7b6b2b3ff92a97c5b0ef70a705da0b9b14c0e226",
   "source/caption.txt": "129bca59dbc8e9a00d66264548968795ad034578a7727f3aee4f3c6416b13d8a",
   "source/meta.json": "a92ef3d6a6493325b87db7d721f0af91652d1e286bbce97f0d8a20a6b42fcfb0",
-  "source/points_target.npz": "036901dd56964be234fa78137e1fdc720f05b446dfd1498b6ab3a6642798a115",
-  "source/visibility.json": "cc891aaeb2bb6e2a9cb0edd5a187a5f6212adfd62aa41803c35ef2d6b748e2b7",
+  "source/points_target.npz": "811e0584a66ed2a0d4d8c37de5866805bc8f3d3097758f3fa6e8256aa159f9cf",
+  "source/visibility.json": "98c6f862ba9e71a7219670348692a5a5c913cb6fc46562fcf151d468cfc421f7",
   "tracks3d.npz": "468daa8aa95279dfcbe05031abc5d2ae3dec910556b475ab39f2ce45a7173063",
   "videos/view0.mp4": "fecbf19d51f18198e7e5bff5a5d05dcecc392698b736ceb19512abdfdfd243af",
   "videos/view1.mp4": "2f53a0e0fe86cb0f899c508e8532660f95808af15e5df8ba6f3044d2874f2a54",
diff --git a/Simul-Robot/c001_episode_003920/source/cameras.json b/Simul-Robot/c001_episode_003920/source/cameras.json
index 5c422876995e60c3e9b082ede6d8f57bb496eb7d..24f05c75722374040b92a2aa829f180a8cc37687 100644
--- a/Simul-Robot/c001_episode_003920/source/cameras.json
+++ b/Simul-Robot/c001_episode_003920/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_003920/source/visibility.json b/Simul-Robot/c001_episode_003920/source/visibility.json
index eb6e7208b10e91c41d4a8adde77d2aed96d918f1..90ef61310d350a1f6c070f3894ff01428f2b96d8 100644
--- a/Simul-Robot/c001_episode_003920/source/visibility.json
+++ b/Simul-Robot/c001_episode_003920/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "square_big_box": [
@@ -9095,5 +9095,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_003970/sample.json b/Simul-Robot/c001_episode_003970/sample.json
index 7cec6f89a9afd8a5e959f145a500b28116452fa1..4a9e812a20f93f5d47a87e0c6d045be3431cac13 100644
--- a/Simul-Robot/c001_episode_003970/sample.json
+++ b/Simul-Robot/c001_episode_003970/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "113d180ed1e5f1d222771a2a768365d6280b7d413cda2c307fc87a751d818a56",
   "labels/objects.json": "66ec9e58b2982b410962b88fca3b3a5b45647e935a6f5b00f115c46e7897376e",
   "labels/visibility_states.json": "ee8b94a3f8283ec3f7fce8e218ae28c5c6835a2433138dfad42e9aaf2e1649da",
-  "source/cameras.json": "118e442c5254dc4fd3bad2ce119a91c7417d1f68d434dfb0b2ee6b5aadff3dfa",
+  "source/cameras.json": "6a430e42e910c393427a9b7f9000750cab2a9cdf06460cc23e4800ce57b63012",
   "source/caption.txt": "0b9825e47dd2a1c71662c59436083311cc4da91e18bb64596cb3e0e9e6997b62",
-  "source/meta.json": "c7be4ab848d53163c1fc056990e728fefcef7381c9dbbf24c22dae6502ba4355",
-  "source/points_target.npz": "7613bf287687ea2a497076b1d1716c9be2766c15d64223d5699120f2aa2797df",
-  "source/visibility.json": "371b5ad29261c875c6b8d22da155d070b28da8a13d62075ec30339c308a1d8c4",
+  "source/meta.json": "7a35a366d5b2228f7dbcb0a6bf9b1ad17adf64cffac1da5cf37e1bd254f39f0a",
+  "source/points_target.npz": "bd9319fec9b87a7a7ba2e7548a54a6461bf68a052198d1c022b3eb74974f393c",
+  "source/visibility.json": "5d46e07e0b5e10d630cb9b782707475213c101320dea5c67261cd2b83e105a6a",
   "tracks3d.npz": "c7e21afcccbb03a8e3dcd5588b292a12c7fa6858b74609a05dd4aefaad7a60e5",
   "videos/view0.mp4": "a7e9a2f4a556e46dc7783639b6d9b6aedfc108ccff1c403e9bb68d9c98fcd6ed",
   "videos/view1.mp4": "cb571784833e2757f8f314d8f81f5ed811c6b49fa7d79fd67b59c170dfbcd22a",
diff --git a/Simul-Robot/c001_episode_003970/source/cameras.json b/Simul-Robot/c001_episode_003970/source/cameras.json
index 1e8f77f97b36f21f1f3d0766c12701b885402005..9ec360e863174776a2ef1e41f402c62400c302dc 100644
--- a/Simul-Robot/c001_episode_003970/source/cameras.json
+++ b/Simul-Robot/c001_episode_003970/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_003970/source/meta.json b/Simul-Robot/c001_episode_003970/source/meta.json
index 836e9573170343b7d459aa484f7e8f3805df327e..2b2cc84353b0677e95cc380f26fbf41424919f16 100644
--- a/Simul-Robot/c001_episode_003970/source/meta.json
+++ b/Simul-Robot/c001_episode_003970/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_003970/source/visibility.json b/Simul-Robot/c001_episode_003970/source/visibility.json
index 6710a95c740c49e76d2b972ebf4425e849f4c6c9..bad507cfe3174b31757240f8a509ef1e84172fa8 100644
--- a/Simul-Robot/c001_episode_003970/source/visibility.json
+++ b/Simul-Robot/c001_episode_003970/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_energy_can": [
@@ -5710,9 +5710,9 @@
       "target": "red_energy_can"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9500,5 +9500,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_004080/sample.json b/Simul-Robot/c001_episode_004080/sample.json
index 53ee4efee2067027cd688ec766e3d0dbf94f2f51..d05266f82b6811eb4a435e72302b185df8520340 100644
--- a/Simul-Robot/c001_episode_004080/sample.json
+++ b/Simul-Robot/c001_episode_004080/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "666a7674313d0d5325a9dee4cbbd97200f2d3617bae836ab24d6e6b6637d5b86",
   "labels/objects.json": "f23338e4faca31af2b4f4075c266b1213ec08551e4aa4663f2360951a19e85b9",
   "labels/visibility_states.json": "a2d932f929ad97d58c5e4b8a90bbaea2d2bf7e21c678bfcd507ccd8fc1ee888f",
-  "source/cameras.json": "af3ae0fe685759531b0b174d12d2bd47459e87f00b78c4db6d4c26936bd71085",
+  "source/cameras.json": "d9cfb817f2e0b917f3d634c34230e42aa41b0cb4bf942a74144c8379b967fdc7",
   "source/caption.txt": "9feb5840f190f366dd89a8ce7f2a6dff469fb25d030d8d0fe19562170f0f5e7d",
-  "source/meta.json": "93182000a5ef40f63276fcae42a0ee28150430dea58d45ec24ef2332f60befc1",
-  "source/points_target.npz": "47a45afa178ca67072549f342da985247d22e42e385abfd25bdaf35abd2d8e15",
-  "source/visibility.json": "c4215e58c8065f4cf64cbfb8f9e6fa8809772ffdb3fdae1a7bb9375a99397d1b",
+  "source/meta.json": "752f1f3aaa191b250e69266da44661d3725d4a0dfb4cfaf0caf6bf63e22396b8",
+  "source/points_target.npz": "28b6ebe9eed82c582f1712983e160f3ef27135463eada4204db5b7715fa8910e",
+  "source/visibility.json": "e106e55e3efb20fbd02d4fb869778fa076b4c530efe152af43f3c7cc69db51a1",
   "tracks3d.npz": "01fcff670974e12ece0f10f23ad6d92458a7ed68c20d67355889e36b96b1253d",
   "videos/view0.mp4": "80d3323e47b419fbca58763e14220acfe1aa62aaec40892d6fee48076871e0ea",
   "videos/view1.mp4": "d8f5c42e36ef7d2326e18c2426d0207459f177d9f31ca726f3b93dccd97f1847",
diff --git a/Simul-Robot/c001_episode_004080/source/cameras.json b/Simul-Robot/c001_episode_004080/source/cameras.json
index 96e09947d518fc4389b324ca3dd5e288e0baecc3..6f4d461c4b68d56129cadeda99c8df3e02999db7 100644
--- a/Simul-Robot/c001_episode_004080/source/cameras.json
+++ b/Simul-Robot/c001_episode_004080/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_004080/source/meta.json b/Simul-Robot/c001_episode_004080/source/meta.json
index 0198b64994fc1bfda733ab2fa6afe0894890fbc9..cc96d84db6ae8883b5ddb5479c97bb91f9b25793 100644
--- a/Simul-Robot/c001_episode_004080/source/meta.json
+++ b/Simul-Robot/c001_episode_004080/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 17]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01'] 의 비가시 구간 타겟 변위 [None, 0.07] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 17] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01']: [None, 0.07] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_004080/source/visibility.json b/Simul-Robot/c001_episode_004080/source/visibility.json
index eec23101779337d08ffee7d0012280300d987259..f34c4ef3a05654d53a81881f7838ddf4ea099e60 100644
--- a/Simul-Robot/c001_episode_004080/source/visibility.json
+++ b/Simul-Robot/c001_episode_004080/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_foam_brick": [
@@ -5086,8 +5086,8 @@
       "target": "red_foam_brick"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 17]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01'] 의 비가시 구간 타겟 변위 [None, 0.07] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 17] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01']: [None, 0.07] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8455,5 +8455,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_004360/sample.json b/Simul-Robot/c001_episode_004360/sample.json
index 483a893b7a51eee0bb6318ce3632853f2132182e..28a4d9a1a6eecb1e1258d8a8e5da3cb254c8cbf6 100644
--- a/Simul-Robot/c001_episode_004360/sample.json
+++ b/Simul-Robot/c001_episode_004360/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "42c03ea813d7b8f73433fef0202830124408b4995aefe0040ead20514349a481",
   "labels/objects.json": "16815fe17d0a215764ba013cfdc084aac0a2a0c2c2da3255786ab34ef8448807",
   "labels/visibility_states.json": "dcd26fe88a4cfe6af599198fbdcd745552ac78fb0e8ddf9518fc80ff88b7fec0",
-  "source/cameras.json": "ed1f07ace1884c9d53dbb2f00742f4551d1a1565a2edf6e22a74c54fc8d93b36",
+  "source/cameras.json": "1f70a49ca861cc67000e554d21532be7f561776976f32a5cb388be84e16bb74c",
   "source/caption.txt": "3cc24d8aa054778d00dcc0fb20f4f297c46c21d46e9984d2b13ab9a6df9d0b6b",
-  "source/meta.json": "6ee63199996ea2a0f9aa0f6012eda6c344a6f5b15d4c63e715ffc7ba0916a88d",
-  "source/points_target.npz": "a0a8d7aed649229b2c15234f2af8b8fd8f6c6d1c00f66876b7b74ca873307e82",
-  "source/visibility.json": "94d4cea8e7b0d112240dbd318b65091376eb2a4127f9330d27c0584bc1058859",
+  "source/meta.json": "9b7f3d9edbfbfc999f996439122bb3db816bff00eb42211a3770cd1a8607fb7f",
+  "source/points_target.npz": "cbd49d248fa69badd1113399a588b6e81db602caf64413d6211c1c4a34481cda",
+  "source/visibility.json": "008da4291f9412cdbb1bdb423694e1963a62bbfad1aea50d76554700e81754f8",
   "tracks3d.npz": "8d792ad4bd11a243b3df4126ff3f679932c3bdaa6a33f1052cf6a360cd4cf153",
   "videos/view0.mp4": "be73b4f11df1e0dfa64d78a2b0efa0ab5f09323a6f24cd87872ff32f16033e52",
   "videos/view1.mp4": "6f93e795403cf42f140d96430de627e71b28e40436999f5b5f6e353d121d19ec",
diff --git a/Simul-Robot/c001_episode_004360/source/cameras.json b/Simul-Robot/c001_episode_004360/source/cameras.json
index 200eee9803d1385870b06fa75e68c36e1abdad57..5d331af2df49e5aff03712cd6ba6103f285b9235 100644
--- a/Simul-Robot/c001_episode_004360/source/cameras.json
+++ b/Simul-Robot/c001_episode_004360/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_004360/source/meta.json b/Simul-Robot/c001_episode_004360/source/meta.json
index 5b2619353ff6d8117540bada323c027461be3e50..21b767e870d81afa3ad2a73cdd0a842631e71bb0 100644
--- a/Simul-Robot/c001_episode_004360/source/meta.json
+++ b/Simul-Robot/c001_episode_004360/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 10]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 4.1] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 10f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 10] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 4.1] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 10 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_004360/source/visibility.json b/Simul-Robot/c001_episode_004360/source/visibility.json
index e7002f105f293dd60deb68ccbb02aee498291dee..67790be74400e9356ea0274619b1de318043faa7 100644
--- a/Simul-Robot/c001_episode_004360/source/visibility.json
+++ b/Simul-Robot/c001_episode_004360/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -6433,9 +6433,9 @@
       "target": "sweet_corn_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 10]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 4.1] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 10f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 10] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 4.1] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 10 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10703,5 +10703,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_004560/sample.json b/Simul-Robot/c001_episode_004560/sample.json
index 0b9886492bfa2c28feb20db7ed88cf8cb678c9e5..490a746d0e4af5b817ba1af205cb6bc34465e230 100644
--- a/Simul-Robot/c001_episode_004560/sample.json
+++ b/Simul-Robot/c001_episode_004560/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "ccbd87006442913d8e2f907743d2122f406be80c94ee774739888c7eeb420f1a",
   "labels/objects.json": "fcf9d260cc3a7d3e5da9edbbfe4b4e764981922c4f2522f0d4589f77e9131d80",
   "labels/visibility_states.json": "0c83c502da0081bdc671cb57d594fefef9414f96ae61669e58b2b33863479417",
-  "source/cameras.json": "8000dcf9e747d6a2e3bcf90e54135decb3aba326f29e754d5f9d170d9f957a3a",
+  "source/cameras.json": "f046e0921c3aa7a14aea52fd5933ccde5809398657f05705da50283b4a72ba23",
   "source/caption.txt": "7337fa2aac3267ab89e248eaee0fa713b590854e68ded784ec1c5313237716c5",
-  "source/meta.json": "9f883e8e0cd60cb21e3e203a517bfa561963304870a1db0e7015804ee93ad501",
-  "source/points_target.npz": "e8fbad0d2591f848cf0556281b141284b7bec57befae1278d4dcf538c8417e1e",
-  "source/visibility.json": "3bbda843ce016c0c6f84cc1e7b1a61e4881f65fe7310a079d2180651de8a7353",
+  "source/meta.json": "67dd85ab0cb182a2e3a4c1543b74d30fbcbb48cc517b32983558dae395a54972",
+  "source/points_target.npz": "6b88cc73dbba01f26d6dba21dd0327b49dad99bc959dbde75f8c16b89b1ee467",
+  "source/visibility.json": "a4e2def7e0aa24eb4046234f4fba7952c13d22e3f5a024c59765cc22bbb5d686",
   "tracks3d.npz": "b734bbf689a869a7643ec2e831da8e68a447fe12307910f1000f3d22c7876b7b",
   "videos/view0.mp4": "25a766ba57cccc2288cc07ae662cca693e7da45f284dbbd7beb378333b9966df",
   "videos/view1.mp4": "910b691d40dc15c5636292f769ce85a591ceccd398dfb174269cfd6300b3ca8f",
diff --git a/Simul-Robot/c001_episode_004560/source/cameras.json b/Simul-Robot/c001_episode_004560/source/cameras.json
index 1eb815ec9834a85daa1e9eb1da891e3a0f51a4d2..c3f52836bd30f6f0c0da27071200869ffa871b7e 100644
--- a/Simul-Robot/c001_episode_004560/source/cameras.json
+++ b/Simul-Robot/c001_episode_004560/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_004560/source/meta.json b/Simul-Robot/c001_episode_004560/source/meta.json
index 72d0274eedaae426eb88748e2c734cdcd2ce17ff..8b226cc7294e892385233f9ded0262ffb70d5895 100644
--- a/Simul-Robot/c001_episode_004560/source/meta.json
+++ b/Simul-Robot/c001_episode_004560/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_004560/source/visibility.json b/Simul-Robot/c001_episode_004560/source/visibility.json
index fcf33685483548e5f4ff014b16b8512f762278a5..777f95ba44a05dd8b33f3a303bf5d6474589efb3 100644
--- a/Simul-Robot/c001_episode_004560/source/visibility.json
+++ b/Simul-Robot/c001_episode_004560/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_rimmed_plate": [
@@ -4840,9 +4840,9 @@
       "target": "small_blue_bottle"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8050,5 +8050,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_004830/sample.json b/Simul-Robot/c001_episode_004830/sample.json
index 7db07f6c111abd52fd2919d0239204bad4c1519f..ad04954de4e2a178d208d1e5e03c7de7f5f9d12f 100644
--- a/Simul-Robot/c001_episode_004830/sample.json
+++ b/Simul-Robot/c001_episode_004830/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "832f92c5f8bc417d45ab78bb3f64db6d84bf1edcb1d6aa3f92360de4f9ae206f",
   "labels/objects.json": "c9a65946b6c1c338f327003aeb2d361c651924ffe34cbb68271fd011f15971bb",
   "labels/visibility_states.json": "24afd0d01191b50c1f1672679d2754cc800fd44261cbb09ac1f2b03e360a58e3",
-  "source/cameras.json": "fe4d4fb3a7744814eed73addfd52b5f41e4f18b1b463389434811e147f794fe3",
+  "source/cameras.json": "01a2961b192cdc194ba8bbf10cd19dc5d654602fa23d9fdb7157efb9c3c352b9",
   "source/caption.txt": "18140ed6c6a0ef9267feb4f372155e717a74d8b816f299c0a65b37b5d6b959db",
-  "source/meta.json": "d64bd33bb3bd8ab9b9503b22012f0ef11e344d089e12bbc842e0820459a20b18",
-  "source/points_target.npz": "7670e95b4aadd885bb215fb8d5844bb69cb396ad1dec7d64009942f5df9ac573",
-  "source/visibility.json": "2645beafb973a46745bfe7faffb1085bc3d0f2e3c55c27700465d904db98addb",
+  "source/meta.json": "d2f0687f7479dc3e747b3b208941d5b7482469492c293777311fde7527ff5e7c",
+  "source/points_target.npz": "0b54124af85b9f49c6221bdd8168078ed8c3e7e4b0c9c16d323e181e262ebbb2",
+  "source/visibility.json": "8e9021b579d5071ad4a9a31bfcc3ad93bde05b12b5d90ca5be3eae8742413da5",
   "tracks3d.npz": "cc07115247217ca4795967bce72d615571daa2b3250faa0235a1b6d292dcf9cf",
   "videos/view0.mp4": "7f446da646c194f32edde55a3bab73d232b37da5587f219c6271e28a3afb7fc2",
   "videos/view1.mp4": "4d40b3ddfeea4e4ac5148248373b7d5af6df57a2bd95f6a721afe48ea1d54097",
diff --git a/Simul-Robot/c001_episode_004830/source/cameras.json b/Simul-Robot/c001_episode_004830/source/cameras.json
index e2f1b009ec33e5563a6219463aa1494dbe620fb8..55f50b4060b2d92d1e4004343a986885850745c8 100644
--- a/Simul-Robot/c001_episode_004830/source/cameras.json
+++ b/Simul-Robot/c001_episode_004830/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_004830/source/meta.json b/Simul-Robot/c001_episode_004830/source/meta.json
index 197495a1263ba0f0146903116b65a1cd66f150ef..5b2620e35e052f7cf3647fdab2033d379e8bce67 100644
--- a/Simul-Robot/c001_episode_004830/source/meta.json
+++ b/Simul-Robot/c001_episode_004830/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_004830/source/visibility.json b/Simul-Robot/c001_episode_004830/source/visibility.json
index 112170af11f366e43e8978a420e57f22f096cfd8..396d9bd84ecfbb7ffabfc4bb7955a37090948b2a 100644
--- a/Simul-Robot/c001_episode_004830/source/visibility.json
+++ b/Simul-Robot/c001_episode_004830/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "black_energy_can": [
@@ -5140,9 +5140,9 @@
       "target": "black_energy_can"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8550,5 +8550,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_004860/sample.json b/Simul-Robot/c001_episode_004860/sample.json
index cb15ec95c2658a179d458272a281fe679690ba60..7824d8a331bb8cfa0eba9b364cd6614d2edbaf11 100644
--- a/Simul-Robot/c001_episode_004860/sample.json
+++ b/Simul-Robot/c001_episode_004860/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "6456dbc55bb7f352955419101e1fd85b73547ea5547d5d38dbbec636d443b45b",
   "labels/objects.json": "060851e52cb7810971719dc736b86aad650ca8fbb4133eb0c7173f28b79e494f",
   "labels/visibility_states.json": "2c0a33f7d6eca10257e5dbf38c65eedcf548ae0780f2a608acf8af84e393d0f3",
-  "source/cameras.json": "69de2672a68b323e2ef882b458c57711875a8771ea38da28071e7b877da9e4d5",
+  "source/cameras.json": "6d349671bc30fd95f0db2837417ec8618eb60f6320214ec4ae7f446db095f332",
   "source/caption.txt": "15f7782bcb2688c32718a42255fde6a16818dfa92236145b2e202c5bddbc6eef",
-  "source/meta.json": "7bb29c3f6254e61c844ce8d67d77326953e27aed9da9d61c4f49758b163e795c",
-  "source/points_target.npz": "d7fd95ec2492cdd2ea609b3b69f01c23d005b835063597ccead0e48088f441e0",
-  "source/visibility.json": "4ff8e7e2a08f67bd28a7fae991a109cedd78e82e8d7b2aebdac17666730b6962",
+  "source/meta.json": "5cfc65eb76faa0af7c651383f0b0150d1bad4a9829ed611fc8a25210a65412eb",
+  "source/points_target.npz": "325d00cb0cb617961c11301c56b66c8ded6228a827dd11bc9130c9d1a6a3807f",
+  "source/visibility.json": "844a2a18f84aabe3c3d40720937bbbf725fd97eb8242a0f1ce32af0e734b7116",
   "tracks3d.npz": "0e2bad852acb9e2829d913fc423aee78eeb9c34f928af84b54bcfb0e7ade153c",
   "videos/view0.mp4": "61bfb31e0bf0ef4f99a4732745ca10c21b013cfc8c7855774cfce9e2e732ae76",
   "videos/view1.mp4": "aa9aac8657b491866a44a0139d9494fdacb2d2992e46d65c32d63f22d9b2fdf0",
diff --git a/Simul-Robot/c001_episode_004860/source/cameras.json b/Simul-Robot/c001_episode_004860/source/cameras.json
index 40854b487fd8087593ba99c49108aff7abaf3b9b..f56602118dab3a052c20fffb42384acf2e6a1d7d 100644
--- a/Simul-Robot/c001_episode_004860/source/cameras.json
+++ b/Simul-Robot/c001_episode_004860/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_004860/source/meta.json b/Simul-Robot/c001_episode_004860/source/meta.json
index 2d54324e2acb9bb39ab404070b09ea5372a24e56..4226efee148765c33856eea4f784e14a57d19b49 100644
--- a/Simul-Robot/c001_episode_004860/source/meta.json
+++ b/Simul-Robot/c001_episode_004860/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_004860/source/visibility.json b/Simul-Robot/c001_episode_004860/source/visibility.json
index 8478499575215b6f15933c2b3502e02668fa0aec..2f319e8970ac97213b2cef22c08e3a8c4813f9ca 100644
--- a/Simul-Robot/c001_episode_004860/source/visibility.json
+++ b/Simul-Robot/c001_episode_004860/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "dark_foam_brick": [
@@ -7840,9 +7840,9 @@
       "target": "dark_foam_brick"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -13050,5 +13050,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_004870/sample.json b/Simul-Robot/c001_episode_004870/sample.json
index 8fec9c164976eba2098569c74927c5fe34b2258e..fe887fbcb276d7f13152530e3c0c53f7204a120b 100644
--- a/Simul-Robot/c001_episode_004870/sample.json
+++ b/Simul-Robot/c001_episode_004870/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "d751fab30eacd838f3e7e6e3f745f3c294170e7908585814a1666668adfd6aa9",
   "labels/objects.json": "d2cbd8c9a3472a52181a1d9d984c5df7e497269e7a5fec88aba8184324f173bc",
   "labels/visibility_states.json": "5f4438aaee4e971198564f9994d8f84ae6b392628ce55ab3fdb788ac4ce4edb0",
-  "source/cameras.json": "5ae849f86990f8e03126e06e33717b4d1af01cec1d75206b38bb3ba32e3ea138",
+  "source/cameras.json": "b702ad412209acacfc6e7306fe4b5817d3f2765cda5369636047ae818ce7f3ab",
   "source/caption.txt": "657c7e0542f5555d45627625535b56b6a84c0eaa56e299b2b46513de618bb06e",
-  "source/meta.json": "15bb7f146aca1b92b64653eef7a9ba6aa222b026c13db271fcdfbe61b2ff7348",
-  "source/points_target.npz": "56dc2bd4c42a067c1d1d9ee0a353fb1de32badfbca0a53483a15e6bbbcc51c3c",
-  "source/visibility.json": "e3b41cf917c57c3db979ed460f89b808f190ecc7217acc81013585f19813bb3f",
+  "source/meta.json": "84a78b725fe505c28c89f4aa33e7667522a50fb80596b7c78f99e847c047a040",
+  "source/points_target.npz": "b7e91908d1a3fa0ea89f59a1f2f7d67abe5d3dfe0f17e1e51be33e1320804b0a",
+  "source/visibility.json": "fb5d273b8125aa26e669ba7710163b06fc18e90ab2372b3b2755ad58fa43a772",
   "tracks3d.npz": "525788c995e6555c60d26ab37de728533dacf12ae27c0f5d9cf221a78248f21a",
   "videos/view0.mp4": "7baaddcf317bb54157fd1a12857314ea346a710cce40dcb68349ed84070381d1",
   "videos/view1.mp4": "e04f3a83ac3e213f1248c6abacfaa91835af92208da96a5c86d798e9ad774b1a",
diff --git a/Simul-Robot/c001_episode_004870/source/cameras.json b/Simul-Robot/c001_episode_004870/source/cameras.json
index bae6012b0fbca9b9148011a91c83099226197685..ae7faa9d73a160c24660486667f2595e6157f95f 100644
--- a/Simul-Robot/c001_episode_004870/source/cameras.json
+++ b/Simul-Robot/c001_episode_004870/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_004870/source/meta.json b/Simul-Robot/c001_episode_004870/source/meta.json
index ea84ce338b91e964173335d17b78d419471dd77e..36e51dabb76bec76e234b75f9cbe60caa0937a5b 100644
--- a/Simul-Robot/c001_episode_004870/source/meta.json
+++ b/Simul-Robot/c001_episode_004870/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_004870/source/visibility.json b/Simul-Robot/c001_episode_004870/source/visibility.json
index 16b93a1b6cf0a94379efb48306c60a85bf38fa1f..be5c979c328fba352fa323ebbdb56cdb9be6f6d5 100644
--- a/Simul-Robot/c001_episode_004870/source/visibility.json
+++ b/Simul-Robot/c001_episode_004870/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "granulated_sugar_box": [
@@ -6640,9 +6640,9 @@
       "target": "granulated_sugar_box"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -11050,5 +11050,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_005230/sample.json b/Simul-Robot/c001_episode_005230/sample.json
index 33d85b368a64a97bfa95436bc2888e5ff374b197..1f5a3c3495f7ef5daf73e82d2ccb6e269f1c9a72 100644
--- a/Simul-Robot/c001_episode_005230/sample.json
+++ b/Simul-Robot/c001_episode_005230/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "9faaa55e02e407df7ddf3f10595ebdd80fc11a0eee450ec1779bcf059ff8319a",
   "labels/objects.json": "1c6edc24c81181a452728a19a6fcf3e64d8ea645dde76cf3b3079fb91f16360b",
   "labels/visibility_states.json": "99174f807315c12339f8f588403e7420f2aefee92c7ba1badaae27027f3dec77",
-  "source/cameras.json": "122e3a319c57b2ed04ebf0a6d797ee0c5559ded16d4e8221d4e2f7647f1ed63f",
+  "source/cameras.json": "004a4321176d9f87205ba4054151140dd1d9ebb5a50415159e527a1027e9810b",
   "source/caption.txt": "96c6936c7c6bcbe4b75d79a05c1680f1097d445ad7df681f9400a12384de9df2",
-  "source/meta.json": "493a28d107adc3875c366c7bd40cf4ac2d6d96c162aadd388c93bfbe71cf9e3e",
-  "source/points_target.npz": "53bf25d31b5d6342ec02152eb517a277f01277115e4651cea5cb11f7f1d21770",
-  "source/visibility.json": "d106f3f30746af5a100aa85707e3728570963c93352223e6757a265641709c5e",
+  "source/meta.json": "9e9114ec9a7b787e2d8c43a056f940e805bb6cd9cee6e77449b5c19bf44fbf28",
+  "source/points_target.npz": "97c7fe0ef09ba762356594da95f466842dc029bfda9df4e697ddf0a21c9e4c7e",
+  "source/visibility.json": "d76126fe4d19624b6e0655e915d446e2e99cb128c2c01caa2f698ad6a45d8f39",
   "tracks3d.npz": "0f3fe6b6e880737e3838617a2bc743c2de7a43dc5f45c2e81cadd7838ba93def",
   "videos/view0.mp4": "204f9c11abf648feadd201a51fc99c3841d3735c1f8438b449d6139211423475",
   "videos/view1.mp4": "8f5866d15e71b4c8a584427c289ccf29902582f86229b2ca2d52e3d0d9148a17",
diff --git a/Simul-Robot/c001_episode_005230/source/cameras.json b/Simul-Robot/c001_episode_005230/source/cameras.json
index ebaea807ff74f3c000c353ada5886a080ad2c71e..ebe337aa2457eed806f6f5d1fdbba645f4993232 100644
--- a/Simul-Robot/c001_episode_005230/source/cameras.json
+++ b/Simul-Robot/c001_episode_005230/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_005230/source/meta.json b/Simul-Robot/c001_episode_005230/source/meta.json
index 12c7fd2370f6731714910f458632691b6e3de00b..41fa988633153733a09da23d9ef8cb1a7c6287a4 100644
--- a/Simul-Robot/c001_episode_005230/source/meta.json
+++ b/Simul-Robot/c001_episode_005230/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [10, 1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.0, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 11f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [10, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.0, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 11 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_005230/source/visibility.json b/Simul-Robot/c001_episode_005230/source/visibility.json
index 13235a4b5e8a1d0e45f6505a7c116b7b76888b32..05269caf8e80cb19dec60feee9e573927de707eb 100644
--- a/Simul-Robot/c001_episode_005230/source/visibility.json
+++ b/Simul-Robot/c001_episode_005230/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_energy_can": [
@@ -13957,9 +13957,9 @@
       "target": "red_energy_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [10, 1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.0, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 11f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [10, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.0, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 11 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -13969,12 +13969,12 @@
     },
     "relay": null,
     "hard_target": "red_energy_can",
-    "hard_target_note": "타겟 2개 중 primary_object 로 판정",
+    "hard_target_note": "decided on primary_object (of 2 targets)",
     "relabeled": {
       "at": "2026-09-17 14:01:38",
       "was": null,
       "rule": "hard_label2.label(primary=meta.objects.primary_object)",
-      "note": "타겟이 2개라 최초 생산 시 판정을 보류(null)했던 클립이다. 판정 규칙 도입 후 나머지 클립과 같은 자로 재판정했다."
+      "note": "This clip has 2 targets, so its difficulty was left undecided (null) at first production. Once the decision rule was introduced, it was relabeled by the same standard as the other clips."
     }
   },
   "target_world_cm": {
@@ -24399,5 +24399,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_005350/sample.json b/Simul-Robot/c001_episode_005350/sample.json
index 8e5eec12e304144c1b44c3381ae4eeb9282d4b76..b92e80fa89c31e8e5233216bd0dfb53ee4a3f0d5 100644
--- a/Simul-Robot/c001_episode_005350/sample.json
+++ b/Simul-Robot/c001_episode_005350/sample.json
@@ -218,11 +218,11 @@
   "depth/depth.zip": "7fe31d1f3ce1bf265de49215d8d6c03277e419655d668d302e5d5a7e40906330",
   "labels/objects.json": "aadb550619abd8e290d7b0f98ad35c61cb252b979900c4c2841ab8e9ed468be8",
   "labels/visibility_states.json": "6a0b1a6b3647aed68b695ae58b374a21c5af544412dda09c5c6c6001059b48df",
-  "source/cameras.json": "3b6b5b542d732ffd7201e71b553a20a7c56d1bd9306fc5b93d5c65ae8bac0636",
+  "source/cameras.json": "77cfd40adf2c0a48b1f79d7cd487b0a212675dd41337de3520254b0bc5d7a363",
   "source/caption.txt": "d6df3af8616c588d808d06227173b9a6343a7d1524283a2a2c99bc035efcae27",
-  "source/meta.json": "2cc4f4c72ed6c97549eeac67c419f7a82811cd7cbe8b1f94af9a7142affa7e33",
-  "source/points_target.npz": "7e9f78af798daa8a1824b5d4e14b39c20a247e765513909c280c1af91601e2ca",
-  "source/visibility.json": "1013d192c97546d30078569ab8d0d133652e61ece4f31323aab4a9947acfa552",
+  "source/meta.json": "9cb3e765bb4650024016e7dd6032686f7bbbbf936a4022b199993789800952c1",
+  "source/points_target.npz": "c004a50c9074057801c3d3aad2cd227b4555f12206bf154cccb6c8505110efa3",
+  "source/visibility.json": "3869e5d0435673860463626db931b926c22fe44bfafe045e7c87badbb4d07107",
   "tracks3d.npz": "ca18a3bde2e3c381fbdeda8b8950ea6bc1bfe64414d4880f275effe8cab5023f",
   "videos/view0.mp4": "1805440aae210df9c27dec73275329a5f1bed7d8eef4eee42d79fd20c383a813",
   "videos/view1.mp4": "bdd9a28f5de7cdf07796c7ea661d5542ba11d013aa6fb64b58c0c441a4d41212",
diff --git a/Simul-Robot/c001_episode_005350/source/cameras.json b/Simul-Robot/c001_episode_005350/source/cameras.json
index 49d5176fded298a6bd1c13992723fe1c286e1001..00bb32ec2b8acd054158398491d89ceb24f0bf53 100644
--- a/Simul-Robot/c001_episode_005350/source/cameras.json
+++ b/Simul-Robot/c001_episode_005350/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_005350/source/meta.json b/Simul-Robot/c001_episode_005350/source/meta.json
index 59159e590c772f5a55525d6878ceb1f6f183e229..2f6e74cf8b8544156322452758172c913f38681e 100644
--- a/Simul-Robot/c001_episode_005350/source/meta.json
+++ b/Simul-Robot/c001_episode_005350/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 2,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [6, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.68] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [6, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam01', 'cam02']: [None, 0.68] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_005350/source/visibility.json b/Simul-Robot/c001_episode_005350/source/visibility.json
index 7ac38b12878ed8858ff3560023e0aef35f7eacb0..8d398befcc52be13aa712b566ae2c0169b6cb16b 100644
--- a/Simul-Robot/c001_episode_005350/source/visibility.json
+++ b/Simul-Robot/c001_episode_005350/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "dark_foam_brick": [
@@ -19396,8 +19396,8 @@
       "target": "red_foam_brick"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [6, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.68] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [6, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam01', 'cam02']: [None, 0.68] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -19407,12 +19407,12 @@
     },
     "relay": null,
     "hard_target": "red_foam_brick",
-    "hard_target_note": "타겟 2개 중 primary_object 로 판정",
+    "hard_target_note": "decided on primary_object (of 2 targets)",
     "relabeled": {
       "at": "2026-09-17 14:01:50",
       "was": null,
       "rule": "hard_label2.label(primary=meta.objects.primary_object)",
-      "note": "타겟이 2개라 최초 생산 시 판정을 보류(null)했던 클립이다. 판정 규칙 도입 후 나머지 클립과 같은 자로 재판정했다."
+      "note": "This clip has 2 targets, so its difficulty was left undecided (null) at first production. Once the decision rule was introduced, it was relabeled by the same standard as the other clips."
     }
   },
   "target_world_cm": {
@@ -33917,5 +33917,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_005630/source/cameras.json b/Simul-Robot/c001_episode_005630/source/cameras.json
index d1bb8dac7f30affbb9e964b792d14b2fdf7c3621..566d7e4efef607e42502f4a61b8e41c239dad84e 100644
--- a/Simul-Robot/c001_episode_005630/source/cameras.json
+++ b/Simul-Robot/c001_episode_005630/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_005780/sample.json b/Simul-Robot/c001_episode_005780/sample.json
index b417f582088510eda8f7bc4c8881ef0045cacf09..68bed763c322e29700ee6d9063a4966737cc3d27 100644
--- a/Simul-Robot/c001_episode_005780/sample.json
+++ b/Simul-Robot/c001_episode_005780/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "49249702a419633bb1b597cf0721517b582adabf9c6b79dc5cdb247fa52a8af1",
   "labels/objects.json": "3df26e44bbdf18f28413da744ebc7a119d727d44a1a22fe274ceadc9cad870df",
   "labels/visibility_states.json": "f6ef28f4bba4b486cf74b9c41791fa603328701c51d9aa90cc3f964db1ce729f",
-  "source/cameras.json": "08ad37ad92073ca2f3a32a7224d56bb9a92ee5e6d5860e4d1b55f9cba7f2db0a",
+  "source/cameras.json": "dcf125576ae7cc62b73dbbe22d6e5dc5227b38a29e8bfef5753204370cc422ff",
   "source/caption.txt": "e9cc5d18df409ac03cc859c1421e4197099ca577fe475197ec8b0536530c7188",
-  "source/meta.json": "c850e0e87355f84597d54ad8097b60763003cbb65474e96bd511f9109d8a46ac",
-  "source/points_target.npz": "c8eec6b9cfd9311474620585f6a74072151de97bd57c2bb98a82af295c25e0db",
-  "source/visibility.json": "cd15a8a93bc96c877c634f00ee18b2af9f5cf5fc998b77068adf41c2a4663eca",
+  "source/meta.json": "d59bcd7eff806953f0e43f05e8a4f3ffa686ab82ab41e7ecb006e432bfefa24a",
+  "source/points_target.npz": "35e73c9389a04f5b88607c96821a82a5b1801bc4d1f1820440badff53112d219",
+  "source/visibility.json": "7dccb13c06d70ceebfe866907746919cbdfbb6a9354a50a13d34fa800d0dd87b",
   "tracks3d.npz": "1f2270837f9a88c435a6f18e6dd5bcfa2b6027ba76628b300a90051579001026",
   "videos/view0.mp4": "83e30ecac72c2c3692005e78184cd09d851d08a06952649d82c1d28828dbad0d",
   "videos/view1.mp4": "be75a0bffab2cf3e745750402dde60c30f52a24c291b8bd516e0f18712b23b4a",
diff --git a/Simul-Robot/c001_episode_005780/source/cameras.json b/Simul-Robot/c001_episode_005780/source/cameras.json
index 1a2c9f9da7b6fa21a36523765049243778ea7e69..283b018f7e902b5bad55ef5b8d58e74c0cbe8789 100644
--- a/Simul-Robot/c001_episode_005780/source/cameras.json
+++ b/Simul-Robot/c001_episode_005780/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_005780/source/meta.json b/Simul-Robot/c001_episode_005780/source/meta.json
index 85735fe3e933b4b50a7cec1391386b271ee0d01e..ad76af8125d7054fc91c35516550af7284db7486 100644
--- a/Simul-Robot/c001_episode_005780/source/meta.json
+++ b/Simul-Robot/c001_episode_005780/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 1, 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 1f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 1 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_005780/source/visibility.json b/Simul-Robot/c001_episode_005780/source/visibility.json
index bdc57a545d73b876e7bb5a1795368fce15384efe..712c7e34b924cc3f6fc3aca9688a569cb7b440fd 100644
--- a/Simul-Robot/c001_episode_005780/source/visibility.json
+++ b/Simul-Robot/c001_episode_005780/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "brown_ceramic_bear": [
@@ -12834,9 +12834,9 @@
       "target": "glazed_squirrel_figurine"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 1, 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 1f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 1 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -22428,5 +22428,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_005790/sample.json b/Simul-Robot/c001_episode_005790/sample.json
index a4541536c68568225995310c66e6ef095084a643..0b57ffe64f5c2297e79d06ece3faa538345da20a 100644
--- a/Simul-Robot/c001_episode_005790/sample.json
+++ b/Simul-Robot/c001_episode_005790/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "961ce76ef78eaddd51d696a8cf897ebf25dc892162ea6d55f0ebf691ad94d687",
   "labels/objects.json": "69eff39044c59b4c1b73612cd07c506f53815a1dda96628aeb52736a01038a19",
   "labels/visibility_states.json": "0dfe6875021eded3df4f26f4ce9f818f93eaadb460e7eca3f831764ea0e9a76b",
-  "source/cameras.json": "f6b3400d63393ec81008f187887aabbcdab87a69fd2be2a548faf31f18d1d14a",
+  "source/cameras.json": "2c3865165ec929f052a4729002e4cf177e1a939ce84ec1170c4da81e24e0ebfc",
   "source/caption.txt": "1429e2dd2cc35f062081123ec94147d02c7faf9f349cdd5c0f691608fa9bccf3",
-  "source/meta.json": "30ec15c2bb68608f58b78f50bbe36f46b3d3adfec53af01e15815d593e848c4b",
-  "source/points_target.npz": "3cdc69b2c77131b9c8561d2fb9b1ec456e525a416d12cc131931399790605729",
-  "source/visibility.json": "58f48fed2253b912dcd5a8e16f3d4afaca1dedf21e4adf0bbdf6014bb1d6d33e",
+  "source/meta.json": "0c40fa6f91990e283b3f7b2fd643c6cdf257b92eebcecb6f4e9eccd2167814d3",
+  "source/points_target.npz": "4c42fea02035af23c07ef0693b47470b28bb3f701fefc7c95d8cc5881f42a23c",
+  "source/visibility.json": "8178acaea351fec246c720a0135fab6dad5894e0974263301e2620539a5eb3bf",
   "tracks3d.npz": "ddd4e4fb6e9f296e27910b67c4a720321ee4f67c5408be5bb29b67e61ebec3a0",
   "videos/view0.mp4": "ef398e13c9f653358159534e2e51df909d9e0bd6b311ee03eea0acb87104e85d",
   "videos/view1.mp4": "4e8e930ae834dbfb662c9f7b4e851750a959ece326501d41f675e5735949f82e",
diff --git a/Simul-Robot/c001_episode_005790/source/cameras.json b/Simul-Robot/c001_episode_005790/source/cameras.json
index c92023fc0775179b417cd6a013282e3d8d8607b8..2fc5dca482abc84bd0a9532918d8d77fe99c5540 100644
--- a/Simul-Robot/c001_episode_005790/source/cameras.json
+++ b/Simul-Robot/c001_episode_005790/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_005790/source/meta.json b/Simul-Robot/c001_episode_005790/source/meta.json
index 291d58001378a95069e4908a2f9aab29c479b10f..8e5f538899ea997c507142a5630f6d3f3462f6c8 100644
--- a/Simul-Robot/c001_episode_005790/source/meta.json
+++ b/Simul-Robot/c001_episode_005790/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 1, 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 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_005790/source/visibility.json b/Simul-Robot/c001_episode_005790/source/visibility.json
index 0210745f6f410eff9248b2247738468c4c88d6c0..59b8f3b68398c73b643b6f515a1f21361a5df5d2 100644
--- a/Simul-Robot/c001_episode_005790/source/visibility.json
+++ b/Simul-Robot/c001_episode_005790/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "alphabet_soup_can": [
@@ -15797,9 +15797,9 @@
       "target": "tomato_soup_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 1, 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 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -27611,5 +27611,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_006090/sample.json b/Simul-Robot/c001_episode_006090/sample.json
index 096b660da9440275dd860a12502adeb82e2c8f0d..146a7510feb69b0420f637738946858ff1b2f5cb 100644
--- a/Simul-Robot/c001_episode_006090/sample.json
+++ b/Simul-Robot/c001_episode_006090/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "4ae15e265c714cd9d404c8de0c3d35e79c3e342c55547cc61a8a4fb67703d758",
   "labels/objects.json": "eca15dbe1a432f87746607c3649d4848eb1bc2cd66742f81a19b43559fc62606",
   "labels/visibility_states.json": "edcb6fd82d1b86e83d60f5adfb606da2bf69d9ef54ca08f6a39f503d8c70be0e",
-  "source/cameras.json": "915f3bcc24f658b3b996e95bd08ec188033df91b50b280340006bfda0e525b65",
+  "source/cameras.json": "479ccde895cadc7585f0614a82630e374a8496305d3243f0522cc9e1f540ecf8",
   "source/caption.txt": "e1e098d0f926084fa9778bdebb2a2116ea40e05c77a00206464f096bec0cce94",
-  "source/meta.json": "b41786030125c8f3bcc29094ed29e98200f5cd2dd84ff99da569a07d7e58b326",
-  "source/points_target.npz": "61955dfa798c00530aef85f978a0839098aae30b089a4bb2d802c3d648b9fb4a",
-  "source/visibility.json": "8f66677a77729e7114d2c8c957bf1e66580925e7139d709c62aa5a270bef1d70",
+  "source/meta.json": "7e3113e1b5f5c8e9f733dc70ed64944136c9cb1f2f01028f6300ecbbb37b0fb5",
+  "source/points_target.npz": "5a2f03712e3c6224836a87b5b5c9b100c8e93616636d1651f98d885d9a4fb67d",
+  "source/visibility.json": "ec1e71f7295ee1e43e2a3ef05193f48318a7abb071ebfaadef84ec9e6a127f9d",
   "tracks3d.npz": "7a2a6d7e4b60ef19286503320828d55c83c6ab78fd0e15722e9a4157137f29c4",
   "videos/view0.mp4": "ee2062b439790728c8b5ea0f29366790154d88af8227aad9f100a0f398df0ea2",
   "videos/view1.mp4": "7216662c6fe0bdeb4fb9d0fa102418efacbb340f9b62592ed05d02d8d72919a7",
diff --git a/Simul-Robot/c001_episode_006090/source/cameras.json b/Simul-Robot/c001_episode_006090/source/cameras.json
index f4652d085ad71356b0aeefdbbc2b210514c98a78..308137f9466e08ee5116b9031d8ff19b38e2c5cf 100644
--- a/Simul-Robot/c001_episode_006090/source/cameras.json
+++ b/Simul-Robot/c001_episode_006090/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_006090/source/meta.json b/Simul-Robot/c001_episode_006090/source/meta.json
index 6ab8b414b63d398fe673be5580f5f14552049a07..bae6b8afe481eda2522b9f3116545fcf76e26ecc 100644
--- a/Simul-Robot/c001_episode_006090/source/meta.json
+++ b/Simul-Robot/c001_episode_006090/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam01', 'cam02'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.88, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam01', 'cam02']: [0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.88, None, None] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_006090/source/visibility.json b/Simul-Robot/c001_episode_006090/source/visibility.json
index 289d43ea31c7a312ca6fc8675101b7f4a252a231..4cb719d1a57f60d2e70c01bc04879910b0eff9e6 100644
--- a/Simul-Robot/c001_episode_006090/source/visibility.json
+++ b/Simul-Robot/c001_episode_006090/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "potted_meat_can": [
@@ -19674,8 +19674,8 @@
       "target": "red_foam_brick"
     },
     "hard_reasons": [
-      "①캠 ['cam01', 'cam02'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.88, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam01', 'cam02']: [0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.88, None, None] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -34397,5 +34397,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_006200/sample.json b/Simul-Robot/c001_episode_006200/sample.json
index 2733a227ffc5e3ac4a291de041cf74d72f847624..7a5177741436f4ef2250ef0c21c8cbf6e036e755 100644
--- a/Simul-Robot/c001_episode_006200/sample.json
+++ b/Simul-Robot/c001_episode_006200/sample.json
@@ -218,11 +218,11 @@
   "depth/depth.zip": "4a07f6f2b3c4ffde5a99ea0f2d6994391aa5744211e113cf2576ba2520b5f07d",
   "labels/objects.json": "5f78a5e7692efcf5160248fae9a678df5f377091e779bc67f83e024a4448ffa0",
   "labels/visibility_states.json": "3c2f564168ca20518ccb3615b02ca653e776cf602ea4ae029be25e7c8bc2f4f3",
-  "source/cameras.json": "46bdd0cf653be85008cd836b5c0f55ef92f5a46e7c5fef63a2d2c456158fe6c3",
+  "source/cameras.json": "9273e5a6ae8fab7ae5f011663774a323d0377a5229e60f3de9ac01bc89b2bcc6",
   "source/caption.txt": "ec9e74d93d5c38bcc2e0653d8c3886546ebe416991eade0c6d8223da83b80e43",
-  "source/meta.json": "cdace869838dbb3a2718e2d1c8c21f173334b8ccf821a7af7fc0282ca27e53eb",
-  "source/points_target.npz": "3270e2a21175ed73f65b5f7d9665c395e97bb7d84c2faa9f2d8191d8113ee95c",
-  "source/visibility.json": "be63c463f0be0c401d3765383e41dc030f9a968d2a95f446f98fa79abf703508",
+  "source/meta.json": "fdf044a28344cb00ec949fd0bb3fa6e5c60daf4cdaf02c854295d41c70d27bff",
+  "source/points_target.npz": "d2ce0e582a0fbe7e0d6e58f1895b24d9aabbe4583ddf181df33bedbc03a8c869",
+  "source/visibility.json": "fde408155dbaf3840bbaf12b854b4c253cba9af10bb4a92e0f8a06954ce081f2",
   "tracks3d.npz": "fd6195f9bfd1ee039e1d4ec9e30a74baf8f2b6790354cd82f40bbbd1baeb84fd",
   "videos/view0.mp4": "f62232845671b75c2e3763893e400188326ee789f3b1e6980de7a312aa02c98c",
   "videos/view1.mp4": "5b97fac9b58e3dca913479f911e91efac1fa4a4403899b3d680781f07057e9d5",
diff --git a/Simul-Robot/c001_episode_006200/source/cameras.json b/Simul-Robot/c001_episode_006200/source/cameras.json
index b956c91de3854e0a36de73e1b471cac34b8c06e6..3ae96322211bbc51f33916d08a55cda45c8cf4c7 100644
--- a/Simul-Robot/c001_episode_006200/source/cameras.json
+++ b/Simul-Robot/c001_episode_006200/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_006200/source/meta.json b/Simul-Robot/c001_episode_006200/source/meta.json
index 9a1b3eda78be2f005f74f8d1b783bc47e0a2848c..3d1231004d804a887e29403c6e52e2b6d1b127d2 100644
--- a/Simul-Robot/c001_episode_006200/source/meta.json
+++ b/Simul-Robot/c001_episode_006200/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_006200/source/visibility.json b/Simul-Robot/c001_episode_006200/source/visibility.json
index e8ea154585e32ccc2d040e1011b28367aea4026a..ff0db989b73d290828320706d9f41d3730b3f985 100644
--- a/Simul-Robot/c001_episode_006200/source/visibility.json
+++ b/Simul-Robot/c001_episode_006200/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "orange_juice_carton": [
@@ -13950,9 +13950,9 @@
       "target": "orange_juice_carton"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -24384,5 +24384,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_006330/sample.json b/Simul-Robot/c001_episode_006330/sample.json
index defa9c8ddf542edfae5d328bedcae0865f8449c4..40c5fd380540c47d4b20213fde20a93d0ca044a4 100644
--- a/Simul-Robot/c001_episode_006330/sample.json
+++ b/Simul-Robot/c001_episode_006330/sample.json
@@ -221,11 +221,11 @@
   "depth/depth.zip": "79ceb388ce4302496d2869dc8fb664e5e0dda7a894353744f4b6234acf030c1f",
   "labels/objects.json": "f521f23b4e58514e9d1eb0a70b2412ddfa56c2ee0d2966ce8197f355a2e41cb2",
   "labels/visibility_states.json": "928c92564c2d0fede79eaae6857436e29ae4c5009e9df689d684f195316232bb",
-  "source/cameras.json": "858518ee07f4c5a86c457aae5cc0f3fcbe6512301de2bf76e73429c4f5267eb2",
+  "source/cameras.json": "965312d0acc8e43cfe3b99f5d2ea9c443b54c16c3b9f228f80fab76b880a63ac",
   "source/caption.txt": "b1a5f3290f6363d02756642f87af12cec3bdc257041703b4e7ea4ce17feb373e",
   "source/meta.json": "a7e36fb34dbb5dea131d6ae2f01cf70e11842cc08a2ea3132d25b5d5f2383a69",
-  "source/points_target.npz": "8f079a1120cf6f237276a4ece593a79cda928e32add2c1b1702d4b6d4af1b3ae",
-  "source/visibility.json": "54790bf570b4b6fa81f326eea96866fdcb9cec67b0ad6670b0823838f144bcfe",
+  "source/points_target.npz": "ecc0cd3a6cf04cf5a8c81c1c186bd379aae911f5b66203ed1d45303b344e511b",
+  "source/visibility.json": "060637f28700a679e845016006ed4cd104bdae9c449ffb626b572983eab0b7a0",
   "tracks3d.npz": "604ae64be57a6f11a99a251817ad5d604354286eef35cc9d47c0d7ba171be09f",
   "videos/view0.mp4": "5099fe06e1985f7e7d2129207253db6296b0d5c795918ec05728b6bce3ca0fa3",
   "videos/view1.mp4": "8fe8161cdfaf547e0ca1da04a3938ac39a77517921e3c0363bbab152394e43a0",
diff --git a/Simul-Robot/c001_episode_006330/source/cameras.json b/Simul-Robot/c001_episode_006330/source/cameras.json
index 538a84f7deda32227d73f3823a534c7718d103f8..d77fc655f3bb91e0efc8f3718900fbe431538ee4 100644
--- a/Simul-Robot/c001_episode_006330/source/cameras.json
+++ b/Simul-Robot/c001_episode_006330/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_006330/source/visibility.json b/Simul-Robot/c001_episode_006330/source/visibility.json
index 7f77f232e5c7eabc40b2a1e1a73cc75a6b1d4da1..dc713779f1370a34acf5519f9ee9dd27bfedcf5a 100644
--- a/Simul-Robot/c001_episode_006330/source/visibility.json
+++ b/Simul-Robot/c001_episode_006330/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -29989,5 +29989,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_006460/source/cameras.json b/Simul-Robot/c001_episode_006460/source/cameras.json
index 08c6e72112faf3a2ea23fb06c4053f5c9a2438f1..d1cf380d3f8a5186b13b16cfb352f39bf368e19d 100644
--- a/Simul-Robot/c001_episode_006460/source/cameras.json
+++ b/Simul-Robot/c001_episode_006460/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_006460/source/meta.json b/Simul-Robot/c001_episode_006460/source/meta.json
index 0bec7bd14129398e93afe4d12b5b9eb08ebcd5e4..251198bef6ff858ed59502ae623cc8388778f675 100644
--- a/Simul-Robot/c001_episode_006460/source/meta.json
+++ b/Simul-Robot/c001_episode_006460/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 2, 3]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.3, 0.35] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 6f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 2, 3] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.3, 0.35] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 6 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_006460/source/visibility.json b/Simul-Robot/c001_episode_006460/source/visibility.json
index ff07280c8caa3b79f70010eb896825b6376a6829..e4e6dda1c6b8a6a62d648d40f97a1a000f2d7d73 100644
--- a/Simul-Robot/c001_episode_006460/source/visibility.json
+++ b/Simul-Robot/c001_episode_006460/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -13956,9 +13956,9 @@
       "target": "small_blue_bottle"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 2, 3]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.3, 0.35] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 6f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 2, 3] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.3, 0.35] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 6 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -24390,5 +24390,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_006770/sample.json b/Simul-Robot/c001_episode_006770/sample.json
index 36813f35d68f42ad7c981a5fc37bc2040b542674..edc6eddc144ed360936a222bdc1caa03442f4d58 100644
--- a/Simul-Robot/c001_episode_006770/sample.json
+++ b/Simul-Robot/c001_episode_006770/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "8c5e3e08c09dfa337e8db1eb5211c7c4783100f64813227a151c3d451f91c7bd",
   "labels/objects.json": "787b767e4a07ac06b94bdc7c2e53201efbf4e77d13ffd770abe11703cc59287f",
   "labels/visibility_states.json": "35f8f90bd30f98e2d84351058a380d5f65eb0b174a477b88657a9c7c2ecf31f2",
-  "source/cameras.json": "8b11f55be42c79df882c98d1a85284199a44815c17be1c1ef1538bcfb1a7821a",
+  "source/cameras.json": "a435159a6eca8a635bf55aa800ca2a574c17258da58626c8872e62efa6576ae1",
   "source/caption.txt": "bc0b5e8076bd049c4784d5b549be08593e4e036df1b33801b722cfcab1c2aab7",
-  "source/meta.json": "ac9ec2561494d3361cec4e1ab66f63967cc33e9869c07b8022fecd695697dee7",
-  "source/points_target.npz": "d3493752abb0555355528f134af2eb1659fc53ad09580254f029004007c0726e",
-  "source/visibility.json": "76ce4436dacdceda5f6d3b2113a50ae7ffbcfd471a8dad59c29febd5e37c74ea",
+  "source/meta.json": "5a133594726e4878819da8ebde5c1dc1c93f0e1f9b4279fb9f51b1e84c110ff2",
+  "source/points_target.npz": "8390bf94c6782edf9efee43e1b3be721516c4212ad25fe0b5f2cefcd3eaad5c8",
+  "source/visibility.json": "caad6e5dac896d830175514b4badb797a82f612fc49b79f48ea443393a0bcb4c",
   "tracks3d.npz": "937bd69dc38f89df1512dee28a0c36e620dd9bfcd17ea0828226db5be07485be",
   "videos/view0.mp4": "ac2abad2fd2a9995e58fae2d0d3b8cbfb5e9ce51cd776e804d5515c56a44b2fc",
   "videos/view1.mp4": "c4734a5264a644a29223a7b0af44ec94da87179e5aa1f7f9a946c5f703aa1df1",
diff --git a/Simul-Robot/c001_episode_006770/source/cameras.json b/Simul-Robot/c001_episode_006770/source/cameras.json
index b1699fd95ad7d45a680028d7b8f49e60ea9ab991..8d69edcc5b14a785bd20ff56a26529b6a0ecafdc 100644
--- a/Simul-Robot/c001_episode_006770/source/cameras.json
+++ b/Simul-Robot/c001_episode_006770/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_006770/source/meta.json b/Simul-Robot/c001_episode_006770/source/meta.json
index 889d1fe0c1e5385b616c8b773ad7a4bb505b1a71..fb453eb27500805937da4929a46f6f0748822bb9 100644
--- a/Simul-Robot/c001_episode_006770/source/meta.json
+++ b/Simul-Robot/c001_episode_006770/source/meta.json
@@ -41,9 +41,9 @@
   "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', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.0, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 18f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 13, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.0, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 18 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_006770/source/visibility.json b/Simul-Robot/c001_episode_006770/source/visibility.json
index a04efe419529a4cdf311133293ea6cef5d65ac1d..55e95635c6def84d7ca576a42e93952e5b200730 100644
--- a/Simul-Robot/c001_episode_006770/source/visibility.json
+++ b/Simul-Robot/c001_episode_006770/source/visibility.json
@@ -48,7 +48,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "blue_frog_can": [
@@ -28623,9 +28623,9 @@
       "target": "red_energy_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 13, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.0, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 18f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 13, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.0, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 18 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -51481,5 +51481,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_007220/sample.json b/Simul-Robot/c001_episode_007220/sample.json
index 33eacc26a8848c3e3b5312f9774ff97d111c025d..9f2975ba77f6dba7b4c205b4a86a6a79905afdd7 100644
--- a/Simul-Robot/c001_episode_007220/sample.json
+++ b/Simul-Robot/c001_episode_007220/sample.json
@@ -221,11 +221,11 @@
   "depth/depth.zip": "3eb6a6ce9ea37a554aece09b121ec9768b1760226b18dda235024199e1bfd9e4",
   "labels/objects.json": "0529e1fa8fa2e4806398376934f20f250dc4be9e22db1bfed9f40ec098cc58c3",
   "labels/visibility_states.json": "a00c3df59d3cda6f3508e2e08ac71230d33c3c1883f2dc416cbfb697d9e6fa35",
-  "source/cameras.json": "cd69a5dbc0e4489cb73c4836222d4f8ab4e3b5cb3067b2e45d69577d6cbba424",
+  "source/cameras.json": "68bd4d1f61a33bc3f89edc0d0d2a3241c95814924979ba3d4eac9c4bf565e790",
   "source/caption.txt": "b6aa149298d9531e264aeae454e7e3a0e9c21f0868f4ceb03668de883a13b3b6",
-  "source/meta.json": "68461295d55f8fe3e4846ab540cef0741fb26858134e820408c8c4c10c8f0776",
-  "source/points_target.npz": "c90c919f64505ec6696cb09dd159b9a818d4a9e8be71032eee52fa33814154a1",
-  "source/visibility.json": "3bcbd71482f7153a737a160ec3867d2ff3abaee6d84674680c6eaf03bab908c1",
+  "source/meta.json": "62d4bd846999758b85c9401bbc0d1420d890101b6c52667613b64206c4bafbc2",
+  "source/points_target.npz": "d1d1b39de4a4d7e97f9247a0be4c9f68cfed52f7280b95f061d2a9ea7a815878",
+  "source/visibility.json": "a5306fad56be29cf6652b8e0ae63293c293bc16d6a84c64b4ac3e0b9e860f59e",
   "tracks3d.npz": "e5153b658f696459d526d9f23a1ff6b8a92069ade1045204450dc68861d05a12",
   "videos/view0.mp4": "935c249cb82270e45358876733adcaea0979df0f9805f912a2573fbaf9d56803",
   "videos/view1.mp4": "aa3a60d870dfbaad2fe6ed9fce9db981caf4c344a0c1a7fcd987b18dcbda36e6",
diff --git a/Simul-Robot/c001_episode_007220/source/cameras.json b/Simul-Robot/c001_episode_007220/source/cameras.json
index 6cae7a4a9723fdeda52f15e6b5ada7556dae79e4..ed880db07b8c824fb8955d053c9f4f917d5cddf0 100644
--- a/Simul-Robot/c001_episode_007220/source/cameras.json
+++ b/Simul-Robot/c001_episode_007220/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_007220/source/meta.json b/Simul-Robot/c001_episode_007220/source/meta.json
index f9f9c91f3972b0f25845e6b340f706a30d9940ef..45663d20d27f47a0a5eacbc80eacbcbf90a43168 100644
--- a/Simul-Robot/c001_episode_007220/source/meta.json
+++ b/Simul-Robot/c001_episode_007220/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 2,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [5, 3]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.4, 0.0, 1.72] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [5, 3] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.4, 0.0, 1.72] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_007220/source/visibility.json b/Simul-Robot/c001_episode_007220/source/visibility.json
index a7f7a2119ca375c16091cd5ba2467c7d962f0b36..6223172559d221c9b4cc0605fffa44c7f1daea5c 100644
--- a/Simul-Robot/c001_episode_007220/source/visibility.json
+++ b/Simul-Robot/c001_episode_007220/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -18120,8 +18120,8 @@
       "target": "sweet_corn_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [5, 3]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.4, 0.0, 1.72] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [5, 3] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.4, 0.0, 1.72] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -31673,5 +31673,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_007380/sample.json b/Simul-Robot/c001_episode_007380/sample.json
index 032486e81a038c7f720febf0995e49829a1c15f9..068f72d056516bb8af21a7ea459f63ed58a863ad 100644
--- a/Simul-Robot/c001_episode_007380/sample.json
+++ b/Simul-Robot/c001_episode_007380/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "fd091dec3cb83d90e9c89422d927f6e46237151f617d5eeb8e2aa49141cc6406",
   "labels/objects.json": "e8e8e7e3181b9f4973a6eb68fde3533d6004e9931007db76b9c26998e9d5ccae",
   "labels/visibility_states.json": "9b84c7dbb8be3800c3ba97e396051cb726c9e15ee2ac7e4539b854e4bde30eb9",
-  "source/cameras.json": "02bd71853c762b5c50aa7b7acc3656a12a97f56e72b0e969f45500f5a89d7d17",
+  "source/cameras.json": "d6d6e1f5bf21ac863d4c2c3d4992e924dd13bc7256f532861c87822db2c4de48",
   "source/caption.txt": "e1ac49dc414e18534ebb54c1eced763caf788f305982e23433846bcc76e1262f",
-  "source/meta.json": "346e6a543e62abd8e92d3a97b0931ce091ead7f40d5647cf8799924cd89930d6",
-  "source/points_target.npz": "954964bfdb10a16d63774e74f73debe7524071bc1c6a4b4a44dfa20a2e9e8000",
-  "source/visibility.json": "6cc657e8ff2f667c0730a3e699cdab229dd93bfe55692bf3f2f09988a4a7a5cd",
+  "source/meta.json": "eeaec260609438c9d5c316f6891f592ee17c1d804e8e7d954ac870f70bb79d5e",
+  "source/points_target.npz": "5dc6635f2a2d963d98ba2d4229e317223ed3e543634018c614dab1ee3300c3ee",
+  "source/visibility.json": "b75f3184cf50b50a53426203bddbc5b38961a46612ca1bd61a8de35ed67fd746",
   "tracks3d.npz": "4908c6a4354133ecfa80b42c556839307e74e11dc859ba6bf5881f365a0c367b",
   "videos/view0.mp4": "2dcf764f43de1244ddf6baab06bc02de0dfbcbb6f7e431685483185956a399bf",
   "videos/view1.mp4": "7be8edd073f86b0d96f41651313e90a50ca2d5e0b67f6039310a3dbe0432fc3f",
diff --git a/Simul-Robot/c001_episode_007380/source/cameras.json b/Simul-Robot/c001_episode_007380/source/cameras.json
index cf70ccea01f6b38e518308b3302eb864b539bb5d..149c9b56041b7a66627f4c2c450fa4081c400399 100644
--- a/Simul-Robot/c001_episode_007380/source/cameras.json
+++ b/Simul-Robot/c001_episode_007380/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_007380/source/meta.json b/Simul-Robot/c001_episode_007380/source/meta.json
index b95ba5e4aac9c7022488c07de204ba047efc69ee..984c39c6f5b9c793db890aa38a2b550560adae73 100644
--- a/Simul-Robot/c001_episode_007380/source/meta.json
+++ b/Simul-Robot/c001_episode_007380/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_007380/source/visibility.json b/Simul-Robot/c001_episode_007380/source/visibility.json
index 83ca74f8a653237ecea814f7cda7f975129090fb..be8ba14042d62be66209d2cb040e5566c19cc773 100644
--- a/Simul-Robot/c001_episode_007380/source/visibility.json
+++ b/Simul-Robot/c001_episode_007380/source/visibility.json
@@ -42,7 +42,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "art_deco_bust": [
@@ -18311,9 +18311,9 @@
       "target": "brown_ceramic_bear"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -32015,5 +32015,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_007450/sample.json b/Simul-Robot/c001_episode_007450/sample.json
index 0b0d40856d45a9053c671034b2a69d5194c28617..e4de8993c6d128e56feb6788983c531b3a844df8 100644
--- a/Simul-Robot/c001_episode_007450/sample.json
+++ b/Simul-Robot/c001_episode_007450/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "bdfd21b18a8e87ca77bfd2dcf7bc631b51d4f9acd352aa60021fe94aeb3ab34c",
   "labels/objects.json": "7aacc2b6cb6b61081b823e767bc491f92fcf63685ca7ff00e835a1df042939f1",
   "labels/visibility_states.json": "5e677f7ea641d92d23f52a19fd4971492bc37bd69ff0f298cd7249628b62d46b",
-  "source/cameras.json": "f2209fdc96504451aff08626c2142979ee57d2336d2c01a9e326c3d57f1898e6",
+  "source/cameras.json": "a9ae8ee98515795314dd9e1dcbadd21b710a53249fdfc4979d438f6119a052b4",
   "source/caption.txt": "8ef2de74997bbe1ea8ef0c8f13599a7467c455c1f590785c855798ea638c3215",
-  "source/meta.json": "5fe67edd8a8c0287d181c3c85229493942cda6478c5c44aa2c8789c2c2610d94",
-  "source/points_target.npz": "c186f6d7d8f7a0bfb543744e4f410f8908150409a2029007b54563ad3fe40ae8",
-  "source/visibility.json": "0ba3547e9c7558b05b23ce0aedfb6db477dfe57154d56f852a817596c5d490fc",
+  "source/meta.json": "07aaf787a2f1ce8c00b0263add87fd337e20e1289f17931b64a377cd15626c89",
+  "source/points_target.npz": "5a17014b982e7a63f1274ab766f094e1f59dd19d57cd1e9274ead8f5b06ab715",
+  "source/visibility.json": "4dfb3192035c6ee8057a3eb8ce63e8af18845aaa0dfa2731f52701b32335b090",
   "tracks3d.npz": "96cff9b0548c16434b8b037b493c0b010ade80878801b64713f8165568c1551f",
   "videos/view0.mp4": "28524bfacaff0db09b54a65a669ebacbe12b24bdac623d91b982560e5422bf3b",
   "videos/view1.mp4": "69c023f566642588cb2ff6118937184c5f17321be81028e730cda9b0299128a3",
diff --git a/Simul-Robot/c001_episode_007450/source/cameras.json b/Simul-Robot/c001_episode_007450/source/cameras.json
index aeff0a71d8f266927551ec47940fa77b7345b61e..93d9ef46b871a123d43fe547d77c4b85ce8b4863 100644
--- a/Simul-Robot/c001_episode_007450/source/cameras.json
+++ b/Simul-Robot/c001_episode_007450/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_007450/source/meta.json b/Simul-Robot/c001_episode_007450/source/meta.json
index 77326c09314efd8d8b068f470c570010fa7c2135..aba231b43aa3946bc464979d7eb6d8a34bc90b7b 100644
--- a/Simul-Robot/c001_episode_007450/source/meta.json
+++ b/Simul-Robot/c001_episode_007450/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [4, 5, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.02, 0.01, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 15f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [4, 5, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.02, 0.01, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 15 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_007450/source/visibility.json b/Simul-Robot/c001_episode_007450/source/visibility.json
index d851a2a1d1e5424d352dfda0e0b10c6efa5e8e1a..581527a4666e4fd0bdf0fc2b77b8c7733b9474a9 100644
--- a/Simul-Robot/c001_episode_007450/source/visibility.json
+++ b/Simul-Robot/c001_episode_007450/source/visibility.json
@@ -46,7 +46,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "green_energy_drink": [
@@ -9174,9 +9174,9 @@
       "target": "painted_tin_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [4, 5, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.02, 0.01, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 15f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [4, 5, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.02, 0.01, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 15 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -16472,5 +16472,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_007640/sample.json b/Simul-Robot/c001_episode_007640/sample.json
index 1f01c22973bee9c014694f3cf6a91272bae72dcd..b48f456b70c00fb3402ccf8379d1b736ec265140 100644
--- a/Simul-Robot/c001_episode_007640/sample.json
+++ b/Simul-Robot/c001_episode_007640/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "61a1cb098ef172e554fdb916c915b1364ba43c59c036908122d6f28b48852561",
   "labels/objects.json": "0cef43cba9d246bcfc05bca763cc5b843cad623146a7daa512481d096ffc756c",
   "labels/visibility_states.json": "2c3ac95c85ddd30a6c41a3540f62b9f38e6c439bf645cfddb4a71c2b2d320551",
-  "source/cameras.json": "c2bc3202d073161ef60256496a7d3cec16cda760cc96fbeeef9271b946e4a2ac",
+  "source/cameras.json": "0ac095340ae718ea9cf0c7eaef01d0c842a1222bad09b936f33a36d1062b020a",
   "source/caption.txt": "017936449c2f8700f6413cfee376b7a33bde7a04f026651755fdd63a9d2d5fc2",
-  "source/meta.json": "c0ca56c51b44a0e199e81c8f8bf98784d12d38872c5d6f95561c6594b9f3044a",
-  "source/points_target.npz": "223a0ebb4d65a20f2bc0745c86504ede614928e9605c4860b4b7d8396230cbc9",
-  "source/visibility.json": "38b6a543a517c72b4ce07a3fb69b514bd49ea9a795bdff36fa9d09b6d38e9993",
+  "source/meta.json": "ea625821932bcef934db1ff700f62f764e5fc52e0e556e65e1807a72b1cf96c5",
+  "source/points_target.npz": "550fc024b0513ffdfc1d7b318650f00c97c658bc7fd784b975a89ae3761a2a52",
+  "source/visibility.json": "90c1215d32849b6d4d7f7c88a16c0b34e923c80426f30eba40fede24a4a2802e",
   "tracks3d.npz": "c0c830096639bc22c9309dc54f3e92471ada906794b8ac14e12fb0c439fa9ff2",
   "videos/view0.mp4": "190caa414a69580c42d3bdea156ab41910c07597b7c67efb2a6254f0cf8bcbc8",
   "videos/view1.mp4": "c9ab4d6301685dea50fcbe72aace1e414a6998d33f2429c38f8f4a76760f21fc",
diff --git a/Simul-Robot/c001_episode_007640/source/cameras.json b/Simul-Robot/c001_episode_007640/source/cameras.json
index 796562438530a366de074dfc2fa5287d5b36a499..04e4ceeef0d361826aa6e4424efb988021e6c18c 100644
--- a/Simul-Robot/c001_episode_007640/source/cameras.json
+++ b/Simul-Robot/c001_episode_007640/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_007640/source/meta.json b/Simul-Robot/c001_episode_007640/source/meta.json
index 45d308f9d50aac8d15be432d76ead039d9dddcb4..c44643b5ef94a604d09c80df6aa42de0441cd22c 100644
--- a/Simul-Robot/c001_episode_007640/source/meta.json
+++ b/Simul-Robot/c001_episode_007640/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_007640/source/visibility.json b/Simul-Robot/c001_episode_007640/source/visibility.json
index 6a55a423db8ceb2b7c6ee9e1304cec6ad525a7ec..b5d9498e98719a1100b1b4734f043c55affdc71e 100644
--- a/Simul-Robot/c001_episode_007640/source/visibility.json
+++ b/Simul-Robot/c001_episode_007640/source/visibility.json
@@ -46,7 +46,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "painted_tin_can": [
@@ -4168,9 +4168,9 @@
       "target": "small_white_cube"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -7466,5 +7466,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_008020/sample.json b/Simul-Robot/c001_episode_008020/sample.json
index 5efe953951de3e5c30615dd066f2073c26de4d0e..d235968977b51728e890675ebdeeac45a96bb44e 100644
--- a/Simul-Robot/c001_episode_008020/sample.json
+++ b/Simul-Robot/c001_episode_008020/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "ad848b55afd81cd9d360d3b1e850c203178a64b0436b1c347d8e3c03130791f8",
   "labels/objects.json": "8c441223a40c870e9bd82d355914af76b2c40325692c133afc18682c5de3287e",
   "labels/visibility_states.json": "44548e0f82433a691584759a14960fa6fd346b730dd76101ca93319987c8ef94",
-  "source/cameras.json": "d0c0ea73aef28cf88cef6b6ff0df25b1ab345db9aa0d9f75374c019fe847c0ea",
+  "source/cameras.json": "f1dba5ec05e5dbb25e34ecd7dbdbdceaf10c2521ff2f6817006912fb2c0c8844",
   "source/caption.txt": "20fd80a1541d61dc9242a9617110628d774c84a224a3492816e2cde5dc4c24c6",
-  "source/meta.json": "0c030ebae4a1d26a2785d100a4ef390c7bc678425545b0274ba8990ba62ec049",
-  "source/points_target.npz": "6f91f83cacf62c2bf166e4d4042b989e56f8b0ad8f99b8fcf933671da511e64e",
-  "source/visibility.json": "ab652410b75d38a92a74a101ea4096d1649b104b7cf22f94e715eeb7c65ea6b7",
+  "source/meta.json": "d2554dcb6f65f1f5a9a3116e6a434cdd81accc97d7102f918ec94001f22a84ed",
+  "source/points_target.npz": "24ba67b7c0922bb9d0bff7d6483e03394203b31bf460f55387ea294c7824770c",
+  "source/visibility.json": "6de6f125f9d79e17a8834e43d2f369383a0a3ce1408ae67ed8cffabd4da79be4",
   "tracks3d.npz": "e72d23cbf71e0cf4e4fe916075b8b705fec25e840540b6496193e92245a72f38",
   "videos/view0.mp4": "140d12b2b2d7a1facc07f9815553fa94fc1be225eaec50cb441e9cf19ca86eb7",
   "videos/view1.mp4": "16da24e9d983c2d519e8ca3a8b929932a47ac5f78b3168520073ae396ed7c11d",
diff --git a/Simul-Robot/c001_episode_008020/source/cameras.json b/Simul-Robot/c001_episode_008020/source/cameras.json
index 25bb63170191b65cfaa64869a4017f49689f4e10..7e1817a006c36841a10b5e18bfa006ef5ba912f1 100644
--- a/Simul-Robot/c001_episode_008020/source/cameras.json
+++ b/Simul-Robot/c001_episode_008020/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_008020/source/meta.json b/Simul-Robot/c001_episode_008020/source/meta.json
index 8bb76c60714acc1644547e34314d5de3449658e4..ed398be02b671a1ceca5fee782ab5965ebdecbc0 100644
--- a/Simul-Robot/c001_episode_008020/source/meta.json
+++ b/Simul-Robot/c001_episode_008020/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_008020/source/visibility.json b/Simul-Robot/c001_episode_008020/source/visibility.json
index 2cd01cff8c1ffabaca83a767200f0d84df045a28..f0e787c74d617f7917a22cb8f80a4ff4a97dfc1d 100644
--- a/Simul-Robot/c001_episode_008020/source/visibility.json
+++ b/Simul-Robot/c001_episode_008020/source/visibility.json
@@ -46,7 +46,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -5118,9 +5118,9 @@
       "target": "tomato_can"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9176,5 +9176,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_008410/sample.json b/Simul-Robot/c001_episode_008410/sample.json
index 696b7b78ea141627dec5f3d20312e01e9ef5e170..fc56d89a7dc45be0dec2086f7e29216564b882d1 100644
--- a/Simul-Robot/c001_episode_008410/sample.json
+++ b/Simul-Robot/c001_episode_008410/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "b834759dd00825fdda3293cc123a0b1eb68bc96e7870f4f99a3a8ac104832b4c",
   "labels/objects.json": "e7fcc5a8d0b34c381958fbc8a430b61f77a7637a5acd2ab57f024ae3c734ea4e",
   "labels/visibility_states.json": "6a096f989251272ad7678a61345f386036b442c9e76ce6254ce9b2b4bd67775d",
-  "source/cameras.json": "3ae1adc58c252323d094bf7ebbae8a02b08eef93d90ee5cb5cc4272389f1a8fd",
+  "source/cameras.json": "03d764b5e5939505101713e3427194f7e48951ac4b8beef6d9a03ed2b7320d9f",
   "source/caption.txt": "61a40dba101a18b9b33fa6fccaab53b9de9a2546293cf8e0bc5ca2c21e100378",
-  "source/meta.json": "2aff3a3f30f8ea224f7340916629d1dd460b9c5bb7e45e28d2fb507dc694d96d",
-  "source/points_target.npz": "2884c6b043bed60415f5ee695f931823731f1bbb53005799fec5286cea85f639",
-  "source/visibility.json": "f7092585a06055d647f7cc12f7a28e40b55363d6cc37149fd852426dc34fd8f3",
+  "source/meta.json": "5e5f3e721567b88939eb18e65945bf359f7d07e0731ba16c4904fd6dde374ef1",
+  "source/points_target.npz": "7e544ddffea886f4b35fb0686597a763c51fb123e17b394e961901f82095c907",
+  "source/visibility.json": "44ade48cd8d21ccbb46efc7040a2991b5ec46b06e63f52a9fc6955129d113fe9",
   "tracks3d.npz": "a1076a59f01633f9f2f24bb87cd2b24cc627b6351c2e3a142edd24521327ffef",
   "videos/view0.mp4": "72c0663bd6d2dbd5f5fed8226dd745086204e3025fdf53b671de52ca96a78438",
   "videos/view1.mp4": "fc2da791e7c266ec2f49702d827ba2df1a3d50d142f1c568c492d4fab01e3872",
diff --git a/Simul-Robot/c001_episode_008410/source/cameras.json b/Simul-Robot/c001_episode_008410/source/cameras.json
index b9782b5a9da6ee8b4e3408992bd4e8ebc0052bb6..2b11fc956388a99bd79983fd0700697e318965db 100644
--- a/Simul-Robot/c001_episode_008410/source/cameras.json
+++ b/Simul-Robot/c001_episode_008410/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_008410/source/meta.json b/Simul-Robot/c001_episode_008410/source/meta.json
index 98caf30be99e9fa16181371151fe6a0d0296c32b..ab876a64b12ab9a39b01b9e38eb954ebed94e544 100644
--- a/Simul-Robot/c001_episode_008410/source/meta.json
+++ b/Simul-Robot/c001_episode_008410/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 26]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 0.56] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 26] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 0.56] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_008410/source/visibility.json b/Simul-Robot/c001_episode_008410/source/visibility.json
index af19394b5a00d0a42796e9f21260a07c26a9a096..c9a5a17b03c79590c1c053998b5d19b29c48508e 100644
--- a/Simul-Robot/c001_episode_008410/source/visibility.json
+++ b/Simul-Robot/c001_episode_008410/source/visibility.json
@@ -46,7 +46,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -6171,8 +6171,8 @@
       "target": "small_red_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 26]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 0.56] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 26] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 0.56] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -11068,5 +11068,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_009310/sample.json b/Simul-Robot/c001_episode_009310/sample.json
index c9579e532752d258d1cb2817b05234bfb2573489..140d3b6088e3e0cefb17e941cdae31e4e73ecf7d 100644
--- a/Simul-Robot/c001_episode_009310/sample.json
+++ b/Simul-Robot/c001_episode_009310/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "8ce982fc139c6f49eb138b8260fb0ea0aae5e68304a7b35daa839db200a335c2",
   "labels/objects.json": "753a5de96d23906f783e7b4a251f366630b39ee6328e42d6e320447ff6ff2ba5",
   "labels/visibility_states.json": "7f644d8ad3c3e7524d984a5a5e714ea2269744c163dc7c42edfc8f311b1566d5",
-  "source/cameras.json": "a014eae200122ad7f540e40428a1db3db14f046f41d255e1e4a173ee9d167471",
+  "source/cameras.json": "d235426829bf6ca7c9b790fda479f00ce2c33e223fddb19ebdac113695cbbbe2",
   "source/caption.txt": "cd4f169a85c86d8a4d17d497b4248db205439538e3456f8757e307c44689f8ac",
-  "source/meta.json": "2109271007c95fb3b439168081caf72228ca067af99afdf9abd30c479da64d2e",
-  "source/points_target.npz": "29a3eb454b0a6c3554957d5b9245fd89b7093146b46747422696258dbff73ac7",
-  "source/visibility.json": "2c81e7052a64e651c0cdb73ef1c0932457c55837aa97aaf3307991167f833b54",
+  "source/meta.json": "f03a2e00258dd986373705b7e15f06e4effc4f65e705de026841ba1732ffeb9e",
+  "source/points_target.npz": "b5ee3c2fccddd44041fecb50a303cc4e5ee35e0cdc5aace24aacc5c7b611963b",
+  "source/visibility.json": "b129a66e479538b97d5d0b19a0beb882b6b856d0d5594974fe4508721223bac4",
   "tracks3d.npz": "7b1384b77ff14ce1c6b3be721ef1793611749e33bf8d73ced3a05b98583e091e",
   "videos/view0.mp4": "89879483ca6fa77b9c7e87c53e1874cac518a5e53f931088c7ef25f2e47fe9e6",
   "videos/view1.mp4": "ef537cc657d7a3f0679da5903c5bf53a840d81969bc26fa8c815fd8700b5e519",
diff --git a/Simul-Robot/c001_episode_009310/source/cameras.json b/Simul-Robot/c001_episode_009310/source/cameras.json
index 0571db7a2250e2dc387e82bfc9262df6519d6022..f1af49c846b56fb2edb0c778b9d51dbfe0085ea1 100644
--- a/Simul-Robot/c001_episode_009310/source/cameras.json
+++ b/Simul-Robot/c001_episode_009310/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_009310/source/meta.json b/Simul-Robot/c001_episode_009310/source/meta.json
index 5b15773c784d36a35f6f2ca5dba194c1acc7d8ad..ae85d367b432acbe57b58b4470d0f3a9479abc3f 100644
--- a/Simul-Robot/c001_episode_009310/source/meta.json
+++ b/Simul-Robot/c001_episode_009310/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_009310/source/visibility.json b/Simul-Robot/c001_episode_009310/source/visibility.json
index cc11ec52307b9e50acceaa979ab3546658bb0b58..4678b34467c3ab8aa5225b294b1f972f05b884f3 100644
--- a/Simul-Robot/c001_episode_009310/source/visibility.json
+++ b/Simul-Robot/c001_episode_009310/source/visibility.json
@@ -31,7 +31,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "parmesan_cheese_canister": [
@@ -2091,9 +2091,9 @@
       "target": "parmesan_cheese_canister"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -3137,5 +3137,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_009800/sample.json b/Simul-Robot/c001_episode_009800/sample.json
index 6de0ae5175fd684cb51f08bad7a6e498e6fd5dc2..962b3692d87efd6c5eca14b00ecca82f5fb46ff1 100644
--- a/Simul-Robot/c001_episode_009800/sample.json
+++ b/Simul-Robot/c001_episode_009800/sample.json
@@ -220,11 +220,11 @@
   "depth/depth.zip": "93055a61af55d6925babd6a594815fe8f92fde6ca43bdcbcd29af2ed8ba73300",
   "labels/objects.json": "9307c28db796f80ecf0c77c7ed5edacf2198dc4fb4017f68398dae748fb888ac",
   "labels/visibility_states.json": "7ee0fa0a1e8de7cab09aac6f75ddc0d19ab996401e849fba838d5b7dfedbb9b6",
-  "source/cameras.json": "bd49de55045a8d23213237e757e29b01531c47b860ab8662dec219a425300ae8",
+  "source/cameras.json": "e4d6dbef0bce1fd7ca884a064f8626dfa9e9c610084a18d425c7d0c26412c5b8",
   "source/caption.txt": "e0fa0f2bcafba57c50358f4a4b5736fbf46e2ed7e9d291861d3e2df38753bc0e",
-  "source/meta.json": "5e37cf371f21e2784164c0b8485916e45ccdbec0a9be55285d4c179349050ab1",
-  "source/points_target.npz": "249c87628b8a8712cbe6ec9d683872c47a8f8545f79aa93a767866fb2507fd83",
-  "source/visibility.json": "24a0ccc0b9536915e66681665a23f51c8d632cea459a2849dce3f5cf151986fc",
+  "source/meta.json": "11071cb7da19abd4dc047402a2e96f2f4c2d8d9165b80571af85fa5b88eaa57b",
+  "source/points_target.npz": "81eef41e794551e30429e013459f643afe783171afc481871ee500f274b80f0c",
+  "source/visibility.json": "39e826f9bf9d770f12248248e0fc7b43044f2030197321af3c8f34422bb3ff2e",
   "tracks3d.npz": "42db9d80fb45af89551963a195778506d900d21bf50a7a50eff8ce620752736a",
   "videos/view0.mp4": "ced1425f3f8b15c8070054d4837253ad5d496d43453af66af9d0a27376ff9991",
   "videos/view1.mp4": "566dac2d3f4cf25b500186c2a5c77d4882b6bf8f24299236b1e4e04e9a0b3cd0",
diff --git a/Simul-Robot/c001_episode_009800/source/cameras.json b/Simul-Robot/c001_episode_009800/source/cameras.json
index ece7d88f7b4a74a2c11e3c3c33a6fc169b524417..79b5df586cdd532dc3cc2b156f023af705712374 100644
--- a/Simul-Robot/c001_episode_009800/source/cameras.json
+++ b/Simul-Robot/c001_episode_009800/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_009800/source/meta.json b/Simul-Robot/c001_episode_009800/source/meta.json
index 2632cd160971be0ed2bf099be58d94bdd14a7108..dd3c775c5b3144744d851ed9c7508cd298087809 100644
--- a/Simul-Robot/c001_episode_009800/source/meta.json
+++ b/Simul-Robot/c001_episode_009800/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_009800/source/visibility.json b/Simul-Robot/c001_episode_009800/source/visibility.json
index 3fee184182681c5451b8d4ca1069dfdb9bb2b272..4b69f2e5821aafe97f3080db95491168cd623875 100644
--- a/Simul-Robot/c001_episode_009800/source/visibility.json
+++ b/Simul-Robot/c001_episode_009800/source/visibility.json
@@ -31,7 +31,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "granulated_sugar_box": [
@@ -1711,9 +1711,9 @@
       "target": "granulated_sugar_box"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -2567,5 +2567,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_009830/sample.json b/Simul-Robot/c001_episode_009830/sample.json
index 2725f373bd773802c06cb83272be0fc581bc2612..a3cbe6e6dd0f307faa2145d83128a60d8d16e12b 100644
--- a/Simul-Robot/c001_episode_009830/sample.json
+++ b/Simul-Robot/c001_episode_009830/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "df10d79cc60030691a87fee10edff481b2a2ebf56bba4910e6403dd0e3b22c19",
   "labels/objects.json": "832015fc481670450e2982d5742e6a4542c785da84231a26cb647c67964baa41",
   "labels/visibility_states.json": "901b6899de0c90b66b914838fcdda32f380c84eb089feab790e7bce16d68f9fe",
-  "source/cameras.json": "67cb31fcce7e490d481ec03c70efec07b9b0d800ec1404c47560019a4ff7bdf1",
+  "source/cameras.json": "851bfea42e74dbc09eada5430650f91712ed9ef03813cbf1c130fbd4ffc28bba",
   "source/caption.txt": "2faa4bf8881f1556ac8e5bac24444315bb53d022129d6cea87ccd19deac27782",
-  "source/meta.json": "bc2722333c2976b10bf8f016a27846d5cc54ad725dba486699b0dc0ff17f3bc4",
-  "source/points_target.npz": "48ad649e8f4b56c10511e3ae788919c96107c8b79dd424d54f965571db235f53",
-  "source/visibility.json": "08b9b46b0bb466d7409356759239e6fea2c282d0ffee5db34eeb17d2cfefd7ce",
+  "source/meta.json": "dd62cf1a53b77fe136afdfdd306ae840c9054d67d95d1270285b321c080da7a9",
+  "source/points_target.npz": "805e71ff981f2f3edc8042013da9288afe311464baa21438c268120d059fabb2",
+  "source/visibility.json": "20909923896c0b1290a59d0c8f22cbf11d69b47ae3f7506e20c89d902861f2a9",
   "tracks3d.npz": "bb44bc44dc006f3f0f96a054161fb651072e127c17d3236168ad9bae3476c979",
   "videos/view0.mp4": "070c1eb2f37a3508d476b9b07e0274d5ea11b86707946f99e9635fbeb6204134",
   "videos/view1.mp4": "5e9b6712ee6c1465cdda2b7c8298daf50c657a6c4af36770c6df1e5040402c1b",
diff --git a/Simul-Robot/c001_episode_009830/source/cameras.json b/Simul-Robot/c001_episode_009830/source/cameras.json
index a58a6dd52af2417810fa8e9db2acdee799a3b2f8..1ed9811d8d00e634b430e0d8330240f7d89e3ba7 100644
--- a/Simul-Robot/c001_episode_009830/source/cameras.json
+++ b/Simul-Robot/c001_episode_009830/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_009830/source/meta.json b/Simul-Robot/c001_episode_009830/source/meta.json
index f36a631e08239adb5c134dfcd335b40152cff7b1..a36c50c34b0e19c68a6fcfa4c90067d0b1037108 100644
--- a/Simul-Robot/c001_episode_009830/source/meta.json
+++ b/Simul-Robot/c001_episode_009830/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_009830/source/visibility.json b/Simul-Robot/c001_episode_009830/source/visibility.json
index 98cdc6a253c9af6b16b3ff11dad10b48c762c1a9..2c8c446567c9bcbbf965e50efec6c28fdfbcff56 100644
--- a/Simul-Robot/c001_episode_009830/source/visibility.json
+++ b/Simul-Robot/c001_episode_009830/source/visibility.json
@@ -31,7 +31,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "white_cat_figurine": [
@@ -2091,9 +2091,9 @@
       "target": "white_cat_figurine"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -3137,5 +3137,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/c001_episode_009880/sample.json b/Simul-Robot/c001_episode_009880/sample.json
index f137479cb5b1060225949ae4a775f7f74768fbbf..f06273cfd05c80e25b99f1e5edc0c247c08f82a4 100644
--- a/Simul-Robot/c001_episode_009880/sample.json
+++ b/Simul-Robot/c001_episode_009880/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "ee2e47a856132d4eec1a011796f149c2e7a34b5dcc8aa8f47b05a4ee412d5b31",
   "labels/objects.json": "adf86da0cfc7ea6fca42992f124ad929b9aa2aedfc1bcb1bbebb817f5d427db0",
   "labels/visibility_states.json": "09519a136b91afeb8532b1f190c36d8ceebd2720ae0e28517a23d3fe00738839",
-  "source/cameras.json": "955ddcfefb17ae912df0d3815762ddba7703548e43463d80b00db5e900f858ec",
+  "source/cameras.json": "fca8b043d728d6bf855b9ace7a1ee3420a5266958af65fd9f40774cd5808a88b",
   "source/caption.txt": "9df8b17325fe0cc0696b97fd1ec5736bd1c84b38a966ff6abea6efb9a5921402",
-  "source/meta.json": "6f05cbeef4b5199bf80e7c1c7b6026fac2d052a3cbf3bb50151bc60f3b05fea3",
-  "source/points_target.npz": "2e13f834381c29bea5a5457c2a567dfb1de40fb2bb7f2d5ce6b5822c2d588e24",
-  "source/visibility.json": "cca0ec100ee42c0cacef7eca25d09366cefb6904554ed24947b0162f4025ca34",
+  "source/meta.json": "6fd54397fc4a52b6fc04dd1f13a2837a312730486c67e79659d71d15196a47d3",
+  "source/points_target.npz": "333e5ca41b5c04d54b4750a9c4b23c3dea56a1c8eed494646808fc33a0af05f6",
+  "source/visibility.json": "a27d8b3bfc3ee90fe9fbb44b0d8515f902e0e6157793173aef56cbfd7b061a0f",
   "tracks3d.npz": "eaca64e2cd5492792478687a77dac0ccb5613d125206f62f0e3cc291854977a1",
   "videos/view0.mp4": "54be04d5dbe11524f9ac8a5f124620ac8af6f55847ca55fdfe8d232b908f8e53",
   "videos/view1.mp4": "d1feb93207bf8cb762d96520fc93fd74dcff063a6db3182b2199fb5f3895c205",
diff --git a/Simul-Robot/c001_episode_009880/source/cameras.json b/Simul-Robot/c001_episode_009880/source/cameras.json
index 25d89e7e4975d373aff36bf23a6d23ecb0424c3f..62f8ccda898b9fbaf1cbd8ebbf6d125da67139f9 100644
--- a/Simul-Robot/c001_episode_009880/source/cameras.json
+++ b/Simul-Robot/c001_episode_009880/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/c001_episode_009880/source/meta.json b/Simul-Robot/c001_episode_009880/source/meta.json
index 161c473ee3f3668757ee91366816bbc967cee51f..33b4481db4c2d3207a4ba6e4e8bf7d7e3cc2758c 100644
--- a/Simul-Robot/c001_episode_009880/source/meta.json
+++ b/Simul-Robot/c001_episode_009880/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 2,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 1]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 3.36] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 1] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 3.36] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/c001_episode_009880/source/visibility.json b/Simul-Robot/c001_episode_009880/source/visibility.json
index 3734500a8ef67cb9a1ea0b7ce08756af18e599b4..dd9cd163f464b65233e44675db731fe1efc1d121 100644
--- a/Simul-Robot/c001_episode_009880/source/visibility.json
+++ b/Simul-Robot/c001_episode_009880/source/visibility.json
@@ -31,7 +31,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "ranch_dressing_bottle": [
@@ -2097,8 +2097,8 @@
       "target": "ranch_dressing_bottle"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 1]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 3.36] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 1] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 3.36] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -3142,5 +3142,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/k001_episode_000050/sample.json b/Simul-Robot/k001_episode_000050/sample.json
index 1a9b371d620fc7383665dee4be60f84a39ea9a2a..92b652b002927ae108d07ec2e0e058b0666ec1d0 100644
--- a/Simul-Robot/k001_episode_000050/sample.json
+++ b/Simul-Robot/k001_episode_000050/sample.json
@@ -219,11 +219,11 @@
   "depth/depth.zip": "b2ba43521c69aeb509f9f8edeb8452191fc4cf9cd171c62114ae5306ef2ac6d0",
   "labels/objects.json": "76cbf84e4fd6ccdf3b15831a7a8621f8a034065fb6adfbefe70410eaeba89300",
   "labels/visibility_states.json": "1d59344ab6b864c9fd5791b962e4419c95d1d7b997cafe7e7acb818eb924b6a7",
-  "source/cameras.json": "51f7236a3477bf1a5af3fc1671aa45ed63e5969a7d74c1c03875450440474880",
+  "source/cameras.json": "cced19be22b453d08f88443c0d877c8faf7a7d33cc17b8c17270e2d152346274",
   "source/caption.txt": "51024ae633908cf6998b2a5e0f31dd141bc216eb0687eaddabc9c952fdd1256d",
-  "source/meta.json": "d37495b2888da7f3c3ed6250079b4326aea1944bc8b651bc0b13438c8354170e",
-  "source/points_target.npz": "f4c3aaa0a634b2704dfa41c89188ea2867a9046656c2ca3b26f9d87717dcd688",
-  "source/visibility.json": "12db380a6943a4938ac23b7b3b062eb51023bd164d46a62b3c5111650439e916",
+  "source/meta.json": "482d0ba1ad866a22283de6d09b07dbe37822a3261bf9e1a771ab894856ae4ee2",
+  "source/points_target.npz": "08f010d6331435b666957edbc368d5a21201b515e0ee21d348c68f27c6d281ac",
+  "source/visibility.json": "86a2a8051870a7d20f928fb2a0517970310f49c256505fba8caaf4140c054dd5",
   "tracks3d.npz": "0c7195b26c516131d2e383fde1985a0f349d20d1aa2a158ad1c5d37c33ba1209",
   "videos/view0.mp4": "f87836b5dafd5e8082432eb994160a9023381d0f8c166e566a8e329783359d50",
   "videos/view1.mp4": "b2eef2e314aeaea5395c3e6b12b7a2a27867ea06ff0bb910e133a0af0b425326",
diff --git a/Simul-Robot/k001_episode_000050/source/cameras.json b/Simul-Robot/k001_episode_000050/source/cameras.json
index 3875c16f26acfaaf05f1d374dfd4ba9142115799..7c7144253aeac9175cecae39b623a116e26e8f6b 100644
--- a/Simul-Robot/k001_episode_000050/source/cameras.json
+++ b/Simul-Robot/k001_episode_000050/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/k001_episode_000050/source/meta.json b/Simul-Robot/k001_episode_000050/source/meta.json
index 9eda0b9d8163daa8b561df795128429e9181e9a9..2d0ade010cdb529608a0185fe85cf91f6b7309e7 100644
--- a/Simul-Robot/k001_episode_000050/source/meta.json
+++ b/Simul-Robot/k001_episode_000050/source/meta.json
@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 2,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [11, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.01, None, 3.06] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [11, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.01, None, 3.06] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/k001_episode_000050/source/visibility.json b/Simul-Robot/k001_episode_000050/source/visibility.json
index 07e7780e2277fa3fbd5b57d1e04541e2e2304187..d4d0594a06ae53cf6c9849d9c1a70b0f7a2d26c8 100644
--- a/Simul-Robot/k001_episode_000050/source/visibility.json
+++ b/Simul-Robot/k001_episode_000050/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "small_red_cube": [
@@ -5356,8 +5356,8 @@
       "target": "small_red_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [11, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.01, None, 3.06] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [11, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.01, None, 3.06] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8905,5 +8905,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/k001_episode_000540/sample.json b/Simul-Robot/k001_episode_000540/sample.json
index 55869b95b880d015cc76a829a920b06cdcdca466..d830837e00e0821a12bed6ee9f16f19610157f31 100644
--- a/Simul-Robot/k001_episode_000540/sample.json
+++ b/Simul-Robot/k001_episode_000540/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "95fc3d1ed66f9d2c0577010539533ce87fff6176c9b2a9e3982cb9447c837992",
   "labels/objects.json": "880b0d9a9b5faa85032bff1351730fe75d36a7107d6df3229f521d6e9434d5fb",
   "labels/visibility_states.json": "15fe580e540decfcf84f906e199e2e4969dd49e2cf80b38e761b47f26972b3f5",
-  "source/cameras.json": "4b0311219751474d08409f1c2f322a7476a4aaf08d184cbea681779ababffc6e",
+  "source/cameras.json": "d6dfd142696d16be43449860fbca60ca7922ebd4cd1e97393598796741dd477a",
   "source/caption.txt": "bb7e9f831ba8f97ad2781e7ad66253b262f6e1480c454076813d20dcb5492c95",
-  "source/meta.json": "24de4123fa966fc1644fab9dc6eae3181272dfb8d4df80cfc07036bbde0c1d1c",
-  "source/points_target.npz": "bdfade4a7d53fdd303628bab1d5a5570b1bd61983a7f3e171e358bc8c89d3e81",
-  "source/visibility.json": "0de4541f908de5e8aedb984d7c9a557d2f279f10b0245a2d53191459d61dfd5c",
+  "source/meta.json": "82f00d9b6c68f7197c0f8fdefc9013d8e46fcebc5c892c9a295ad8fd53cf40e2",
+  "source/points_target.npz": "4e94d9f4423ca2b99d8a9cfbc3c25d869eb8d68b1dd70a3bb7fa3eb7e4dfe620",
+  "source/visibility.json": "03615989b6f3a39a3a744449234b47bfc6a9aeadac10127c211dd398f71b8b1f",
   "tracks3d.npz": "b84e789d5913e65ec68ce69c87f1c8d4bf4618ec2bd7a3ee0f1279b5afece96f",
   "videos/view0.mp4": "d2577689f70989f903b7699dc0510550329d58e7d8735b3940067291fc6f03a8",
   "videos/view1.mp4": "3c3165d8701644ec8dbd43be667805b02d1f75f78c8fb07be195dbbd968e0033",
diff --git a/Simul-Robot/k001_episode_000540/source/cameras.json b/Simul-Robot/k001_episode_000540/source/cameras.json
index b71fd87b240679b74ac2052ce224270eb3defcda..75c5af0463e2807b168a63fb51d03d1770d3cae5 100644
--- a/Simul-Robot/k001_episode_000540/source/cameras.json
+++ b/Simul-Robot/k001_episode_000540/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/k001_episode_000540/source/meta.json b/Simul-Robot/k001_episode_000540/source/meta.json
index 1addb60f6b0626c4332ba0bd3a37e3bfcad89013..b7706ab1e224a9c7341e5a6bf80eefe8c305495e 100644
--- a/Simul-Robot/k001_episode_000540/source/meta.json
+++ b/Simul-Robot/k001_episode_000540/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 5]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 0.58] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 11f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 5] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 0.58] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 11 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/k001_episode_000540/source/visibility.json b/Simul-Robot/k001_episode_000540/source/visibility.json
index 31020d33c168719bfd00d3e7a94d285c97a13633..61f917acd16cbabc5aa531b2f5e695b283cd4a1e 100644
--- a/Simul-Robot/k001_episode_000540/source/visibility.json
+++ b/Simul-Robot/k001_episode_000540/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_plastic_tote": [
@@ -6013,9 +6013,9 @@
       "target": "small_red_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 5]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 0.58] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 11f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 5] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 0.58] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 11 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10003,5 +10003,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/k001_episode_000950/sample.json b/Simul-Robot/k001_episode_000950/sample.json
index f04eb5fe7063d55d16e37b8385dd275dfedff3ee..2722a60f5345e738975961f4aa5c23a9648fb8cf 100644
--- a/Simul-Robot/k001_episode_000950/sample.json
+++ b/Simul-Robot/k001_episode_000950/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "8a8b33fe16363322bcf00d234fdf071ec58e94f7057f7cede5f1bfc44ead6995",
   "labels/objects.json": "740bf4a49a08ca7f824835771bb7823f8b769b8a2f724a8043343ee2d5554919",
   "labels/visibility_states.json": "7cbcaee1192c73cc76d1095c468a82c1ec4acf664ce67620c06c85303cbd9260",
-  "source/cameras.json": "2d89e44ebe329b3f41a32ec3faf064f63626046c3bdb58ab8d25b4b6e938aa06",
+  "source/cameras.json": "1a6ec85a92424643721c47f0d4cb56072815cb09f868dc626aa8d297c6e5a1ce",
   "source/caption.txt": "772208d601cd9b1258d11bf56811a3081ceb062846dd82541cdf665d2ad57334",
-  "source/meta.json": "00f50bbbd90277c8bbd395deb923a91fb03c604d978a32bdb25b25b284dc0000",
-  "source/points_target.npz": "04ed4d67bbb497e02cd95eff257345f096ca09b79d4b2f87de57339b1860b872",
-  "source/visibility.json": "923adbd785fcdf84946eec8bf756912674791649f54dd2fd280523c1dddde01a",
+  "source/meta.json": "105ee77a9dd57bf10934d83f695e122648c625b4a8258cded38d12df780285e6",
+  "source/points_target.npz": "57967a90f192d543adda80d278e694da4c368f7df11b426ca20e849de61e29a6",
+  "source/visibility.json": "1548e581335ea284cd3442fbf11f6caf84f31c5f6b070f8f7fde8a8fd296d6b3",
   "tracks3d.npz": "ac8b831b719843115b1356ff9141b1de2601bd011ff605d7c056439d1e9a3a07",
   "videos/view0.mp4": "1228fdd041b1fd82a2480392f4b68c5531f1766e20fd0ecd4bf0489610178786",
   "videos/view1.mp4": "020742c937ca85ad1882f85d8e6e7e31df860589dc6b36f5b6fb0685e9a590de",
diff --git a/Simul-Robot/k001_episode_000950/source/cameras.json b/Simul-Robot/k001_episode_000950/source/cameras.json
index a8ff72b52a0a53549171ec47b58de2e848a3c5c4..40515a96c1cf9da17da47de03ed177dbe5c51adb 100644
--- a/Simul-Robot/k001_episode_000950/source/cameras.json
+++ b/Simul-Robot/k001_episode_000950/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/k001_episode_000950/source/meta.json b/Simul-Robot/k001_episode_000950/source/meta.json
index f047d639ac7cd4b6b82b14f3777035253ad0edf7..92ac6c6e72e0517f4b5e29be0e95f7429b7e7434 100644
--- a/Simul-Robot/k001_episode_000950/source/meta.json
+++ b/Simul-Robot/k001_episode_000950/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [6, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.56, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 15f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [6, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.56, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 15 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/k001_episode_000950/source/visibility.json b/Simul-Robot/k001_episode_000950/source/visibility.json
index 10ab4d7a7bd6e91b6b6bd75281bec22b02d8ab88..727108feb1ca579edb13a0250a2c9df2df3edb42 100644
--- a/Simul-Robot/k001_episode_000950/source/visibility.json
+++ b/Simul-Robot/k001_episode_000950/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_rimmed_plate": [
@@ -5443,9 +5443,9 @@
       "target": "small_red_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [6, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.56, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 15f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [6, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.56, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 15 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9053,5 +9053,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/k002_episode_001470/sample.json b/Simul-Robot/k002_episode_001470/sample.json
index 46f81d829f53e807cf4eba697c3a8ab19e188ac4..0e678a63a2294d2314a779c3535390c46eaeaa15 100644
--- a/Simul-Robot/k002_episode_001470/sample.json
+++ b/Simul-Robot/k002_episode_001470/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "8b6daa36a673df19ecf44c81154ad6c29bf367999acd08bd237aab3f3db2199f",
   "labels/objects.json": "7397b8f1b4ec5643129ce4156051bddcdb01a635508c739f840d99bbd179c528",
   "labels/visibility_states.json": "c4d165203d9a87520f196e977c0c7d9304dc0a9e11242e9632ea2dd74fe28724",
-  "source/cameras.json": "3aafd2f979617abf117293f40047b4570adfce8822912867ab35a37e8ae29eef",
+  "source/cameras.json": "0defe052fd35cddd0aabddde0932bd3cacfaadf0610dddfbc10f2c6f2b465257",
   "source/caption.txt": "7b1813b35d4e77db186f523c3a96e5b9187f9c379c44708cc3328ad6004128bb",
-  "source/meta.json": "03f7c008ad041f6614dc279202474fc54f732e554ab7e2cacd4f9ceb5d5e4dcf",
-  "source/points_target.npz": "dafe6c4d45bdf1d94fb1567dccc1d48eab3748d7eacc5c73aa186f917d0fa8e9",
-  "source/visibility.json": "d7ab83f1dfbdc683e5751113722b6e536b07594c31feefb3c2332018fc474384",
+  "source/meta.json": "8b932592dfae7d0b88040b598ca9291e088253e598b9878065b0b6e2400dca8b",
+  "source/points_target.npz": "ea7e5a7cfeb205303c53602129e30735692fb86c6f1e861e4c36da7df99bb3f7",
+  "source/visibility.json": "b7fee27ddb09863030afca37adb1538eb0ed48f4cf0102ad697366a324cca7b4",
   "tracks3d.npz": "39ea321c43118635729ca762f5ca274b20b9c83b55d6429a95456a5780dc83ed",
   "videos/view0.mp4": "8a3249e53f910ae67b067ef0d294f4f3ff14a6ed443e175aae5e312d52b197bc",
   "videos/view1.mp4": "23b6ca9d915d0d6df4e26e425cd10bdb2eb6a27072c69b15d3b7eee81953751b",
diff --git a/Simul-Robot/k002_episode_001470/source/cameras.json b/Simul-Robot/k002_episode_001470/source/cameras.json
index 6b02b855171a0d9ab2204d11e159fba66419ea1d..42325f818c02b87d587b4c5914c49edabe63a2cf 100644
--- a/Simul-Robot/k002_episode_001470/source/cameras.json
+++ b/Simul-Robot/k002_episode_001470/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/k002_episode_001470/source/meta.json b/Simul-Robot/k002_episode_001470/source/meta.json
index 8012cafeb44aba7184ad57982c7755510a2f43c8..8ed0bea3d53a47b426e794537ba2fe414cbb8952 100644
--- a/Simul-Robot/k002_episode_001470/source/meta.json
+++ b/Simul-Robot/k002_episode_001470/source/meta.json
@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 2, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.72, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 3f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 2, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.72, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 3 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/k002_episode_001470/source/visibility.json b/Simul-Robot/k002_episode_001470/source/visibility.json
index a11e4f1d572af41a4f746d44d6c4b31b5c4f818f..77251b473ee8c158275b4b04816a9fab65ecc302 100644
--- a/Simul-Robot/k002_episode_001470/source/visibility.json
+++ b/Simul-Robot/k002_episode_001470/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "glazed_squirrel_figurine": [
@@ -6283,9 +6283,9 @@
       "target": "glazed_squirrel_figurine"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 2, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.72, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 3f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 2, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.72, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 3 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10453,5 +10453,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file
diff --git a/Simul-Robot/k002_episode_001830/sample.json b/Simul-Robot/k002_episode_001830/sample.json
index 8018b375032c9c8be7a57c54feab01a1b62a75c8..4f7b4bdf3564e20af03a8a9c16c5306d8d0258af 100644
--- a/Simul-Robot/k002_episode_001830/sample.json
+++ b/Simul-Robot/k002_episode_001830/sample.json
@@ -217,11 +217,11 @@
   "depth/depth.zip": "eb19f743e8df0d8ec90486d88b865cfa8664dc29e93898b9820cfc3a5aa845a6",
   "labels/objects.json": "a17885056308e753fd3147b5d6dabdaad0475c21c97d78cb367b2cd2faf50552",
   "labels/visibility_states.json": "6714be251710e98095918a748ce295b55d76af375c5c80e3a331b5f461004036",
-  "source/cameras.json": "5fc21dd97829866d951e761ec905bfc5ba65b3ae77cdceaf5cc605ec765ea2a5",
+  "source/cameras.json": "6f15952b6cfbff15d055c350bc84df28da54c49a95f0271f9ac812c88fd68c23",
   "source/caption.txt": "22c1fda6c36b456d99d594e36890455edd91a9e13f09d2ed82a0acab29c45b52",
-  "source/meta.json": "6802654d4f06f17404157d3c56d6113387fa93bb3377e81b5607fd8b42ecae9d",
-  "source/points_target.npz": "f528f7cef559faa4a5c62f5dc5e12b30bf76829146f5831b1106477582c40a9f",
-  "source/visibility.json": "9782b4cdd66a907a41bf8e109e0073aa1c2104dbdfceb20b513b5c2783e018f9",
+  "source/meta.json": "7a00e9eebd0db0f87fcf9bd005673dcf842e89159573efd441726a3c133b5dff",
+  "source/points_target.npz": "0263d3f14992dfbd18ec7dbeb40839306b3d48302f9df0e41dc53a048f884cac",
+  "source/visibility.json": "5a7497df3f4adaa7d35cf0107b014d2eff0d698176c6728ee7923060d0664de8",
   "tracks3d.npz": "0915230a7214d18371630c94530712836cff02a9babc15985451a4255b097993",
   "videos/view0.mp4": "aef74b02311e0ed6894cc6f79b533bf931e42bed4557e3b31f023af95efc2425",
   "videos/view1.mp4": "027000db3203855f387333797e525d67a9ff23885a3b74f881481e928ef00449",
diff --git a/Simul-Robot/k002_episode_001830/source/cameras.json b/Simul-Robot/k002_episode_001830/source/cameras.json
index 51f85217ff52d30f4913ce7c0a60578c3219e7c1..96a60dae88cf4d4fc1584e400bedb8d04929b6c5 100644
--- a/Simul-Robot/k002_episode_001830/source/cameras.json
+++ b/Simul-Robot/k002_episode_001830/source/cameras.json
@@ -14,7 +14,7 @@
     "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.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",
diff --git a/Simul-Robot/k002_episode_001830/source/meta.json b/Simul-Robot/k002_episode_001830/source/meta.json
index 52cae378f4e360175fc74f07a9b0d72bc6279e92..6173f09d41dbc66c314d1f12a79e129793f0db9b 100644
--- a/Simul-Robot/k002_episode_001830/source/meta.json
+++ b/Simul-Robot/k002_episode_001830/source/meta.json
@@ -41,9 +41,9 @@
   "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,
diff --git a/Simul-Robot/k002_episode_001830/source/visibility.json b/Simul-Robot/k002_episode_001830/source/visibility.json
index bb166bf8f41223de085e01f2099785a2db79e397..cb033b056862219718e5692c49a5be013db1c9fe 100644
--- a/Simul-Robot/k002_episode_001830/source/visibility.json
+++ b/Simul-Robot/k002_episode_001830/source/visibility.json
@@ -36,7 +36,7 @@
   "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."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "black_cat_figurine": [
@@ -5590,9 +5590,9 @@
       "target": "black_cat_figurine"
     },
     "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"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9300,5 +9300,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }
\ No newline at end of file