diff --git a/Simul-Robot/c001_episode_000090/captions.json b/Simul-Robot/c001_episode_000090/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..def5e8c9ab719a4af289cca7031a01dc7ab173bb --- /dev/null +++ b/Simul-Robot/c001_episode_000090/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot reaches with its right hand to grasp a small red cube resting on a marble-patterned tablecloth, lifts it, and carries it over to place it inside an empty square green box, while nearby a teacup, purple jar, ceramic figurine, seashell, and wooden block sit under bright outdoor daylight.", + "structured": { + "targets": [ + "small_red_cube" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "small_red_cube", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot reaches with its right hand to grasp a small red cube resting on a marble-patterned tablecloth, lifts it, and carries it over to place it inside an empty square green box, while nearby a teacup, purple jar, ceramic figurine, seashell, and wooden block sit under bright outdoor daylight. The camera is static.", + "view1": "The humanoid robot reaches with its right hand to grasp a small red cube resting on a marble-patterned tablecloth, lifts it, and carries it over to place it inside an empty square green box, while nearby a teacup, purple jar, ceramic figurine, seashell, and wooden block sit under bright outdoor daylight. The camera is static.", + "view2": "The humanoid robot reaches with its right hand to grasp a small red cube resting on a marble-patterned tablecloth, lifts it, and carries it over to place it inside an empty square green box, while nearby a teacup, purple jar, ceramic figurine, seashell, and wooden block sit under bright outdoor daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_000090/labels/objects.json b/Simul-Robot/c001_episode_000090/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..2bed1d34721ad29f3ee623e76583e2ef56ffc3cf --- /dev/null +++ b/Simul-Robot/c001_episode_000090/labels/objects.json @@ -0,0 +1,3385 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_000090", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"target": "small_red_cube" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_000090/sample.json b/Simul-Robot/c001_episode_000090/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..08560b695649eff2c9dfc8beef649d415aad4a14 --- /dev/null +++ b/Simul-Robot/c001_episode_000090/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_000090", + "subset": "Simul-Robot", + "id": "c001_episode_000090", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_000090", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_000090", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 10:37:31" + }, + "n_views": 3, + "n_frames": 282, + "fps": 20.0, + "duration_s": 14.1, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + -16766.0328, + -31599.5048, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 151.0213 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + -16766.0328, + -31599.5048, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot reaches with its right hand to grasp a small red cube resting on a marble-patterned tablecloth, lifts it, and carries it over to place it inside an empty square green box, while nearby a teacup, purple jar, ceramic figurine, seashell, and wooden block sit under bright outdoor daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "small_red_cube", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 9, + "hands_used": [ + "right" + ], + "primary_object": "small_red_cube", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 899, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it over to place it inside", + "primary_end_speed_mean_m_per_frame": 0.0, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0028, + "primary_end_hand_dist_m": 0.2577, + "primary_end_support_dist_m": 0.0021, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "small_red_cube": 0.25275 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "879dcf5c2aec22989da1813e9f04074c7d0ae457129980aaaaefb187af6949d2", + "captions.json": "6066c7a1b8987227a0642b87154da9f25407fa2194ddb0b5c306150dbdb86498", + "depth/depth.zip": "f7b28bfb5b4461017f68fa9b381f7531fd983cf88af8cf7374e5df9f15852800", + "labels/objects.json": "8b08e622afdff4039f906657348a7a94815176fb98270b8be35fe9d385ccdc73", + "labels/visibility_states.json": "bc7b595d49899ec7dc09e852db41d1e9f47486d8d314f9a2d9c46f466c9d51b9", + "source/cameras.json": "f9586fb7d0fc7672c5ec9ae55cd16e344898426f6348d6a37a7f2246ea702c50", + "source/caption.txt": "89b663f262a589740a4f58ef7ffe29b85c6bca0b41c94c09cca3f94ca0eab24f", + "source/meta.json": "ce2b615de47d5985a9381677d899449be616bf29af3057b452a395b741027c01", + "source/points_target.npz": "ae6213f781b474ec0d9eabfb07d8282f6a4f4d681ce67b1f76df06f92ac2f38f", + "source/visibility.json": "0e44421c0826fecf2040dab1621f626f6d717bcc2cf18585ca649c7f5c63112d", + "tracks3d.npz": "7a1a85c2495be3b91db797e0f5b14157e11234cb5a5f30e0911d97eddf98178d", + "videos/view0.mp4": "88bbda68251c1fdfb68eb1c1c45bbe83c682d351990fef07b22d43103d11be74", + "videos/view1.mp4": "436d2d74a8db336553e7597bd6a6c6aebe918ed00d0337ee9597bf8334ab4eb5", + "videos/view2.mp4": "4dffd0c22c0697ac27ad75a384965ae34857313df7cda3f765d7216272e0d867" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_000090/source/cameras.json b/Simul-Robot/c001_episode_000090/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..d80290eee315257d608f483c9a660c4984389749 --- /dev/null +++ b/Simul-Robot/c001_episode_000090/source/cameras.json @@ -0,0 +1,30641 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_000090", + "map": "c001", + "frame_count": 282, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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/dev/null +++ b/Simul-Robot/c001_episode_000090/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot reaches with its right hand to grasp a small red cube resting on a marble-patterned tablecloth, lifts it, and carries it over to place it inside an empty square green box, while nearby a teacup, purple jar, ceramic figurine, seashell, and wooden block sit under bright outdoor daylight. diff --git a/Simul-Robot/c001_episode_000090/source/meta.json b/Simul-Robot/c001_episode_000090/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf222dccde85213ea2473232782ac6173f3c7d76 --- /dev/null +++ b/Simul-Robot/c001_episode_000090/source/meta.json @@ -0,0 +1,366 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_000090", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_000090", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_000090", + "robot_yaw_deg": 61.0214, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 282, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 12, 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 12f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 282, + "per_cam_blind_max_frames": [ + 0, + 12, + 0 + ], + "per_cam_blind_run": [ + null, + [ + 129, + 140 + ], + null + ], + "per_cam_blind_displacement_cm": [ + 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over, and places it inside the plastic crate while a purple pear, red and green soda cans, a dark textured avocado-like ball, a milk carton, and a small figurine sit nearby on the marble table under bright daylight.", + "structured": { + "targets": [ + "blue_patterned_mug" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "blue_patterned_mug", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The robot's right hand picks up a blue mug with a white interior and repeating blue floral pattern, lifts it, carries it over, and places it inside the plastic crate while a purple pear, red and green soda cans, a dark textured avocado-like ball, a milk carton, and a small figurine sit nearby on the marble table under bright daylight. The camera is static.", + "view1": "The robot's right hand picks up a blue mug with a white interior and repeating blue floral pattern, lifts it, carries it over, and places it inside the plastic crate while a purple pear, red and green soda cans, a dark textured avocado-like ball, a milk carton, and a small figurine sit nearby on the marble table under bright daylight. The camera is static.", + "view2": "The robot's right hand picks up a blue mug with a white interior and repeating blue floral pattern, lifts it, carries it over, and places it inside the plastic crate while a purple pear, red and green soda cans, a dark textured avocado-like ball, a milk carton, and a small figurine sit nearby on the marble table under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002060/labels/objects.json b/Simul-Robot/c001_episode_002060/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..e73779385cf2562bf355bb4086820cf9d42730c8 --- /dev/null +++ b/Simul-Robot/c001_episode_002060/labels/objects.json @@ -0,0 +1,3123 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002060", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "blue_patterned_mug", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/blue_patterned_mug/StaticMeshes/ceramic_mug.ceramic_mug", + "bounds_cm": [ + -5.237, + -6.5807, + 0.0018, + 4.459, + 6.1407, + 8.4111 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 533.5631, + "n_verts": 8010, + "n_tris": 13600, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 52.674, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "blue_patterned_mug" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002060/sample.json b/Simul-Robot/c001_episode_002060/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..cecb91654b5aa676d7b7e2318234d170faa16b4d --- /dev/null +++ b/Simul-Robot/c001_episode_002060/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002060", + "subset": "Simul-Robot", + "id": "c001_episode_002060", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002060", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002060", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 12:57:17" + }, + "n_views": 3, + "n_frames": 256, + "fps": 20.0, + "duration_s": 12.8, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 32664.1089, + -64096.0673, + 93.7986 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -85.5056 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 32664.1089, + -64096.0673, + 93.7986 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The robot's right hand picks up a blue mug with a white interior and repeating blue floral pattern, lifts it, carries it over, and places it inside the plastic crate while a purple pear, red and green soda cans, a dark textured avocado-like ball, a milk carton, and a small figurine sit nearby on the marble table under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "blue_patterned_mug", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 8, + "hands_used": [ + "right" + ], + "primary_object": "blue_patterned_mug", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 861, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it over, and places it inside", + "primary_end_speed_mean_m_per_frame": 3e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0121, + "primary_end_hand_dist_m": 0.2778, + "primary_end_support_dist_m": 0.0139, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_patterned_mug": 0.30111 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "6a7d60475164d4b90e38bab0220818b6fd0b7b1601de7aee7c127acd40f4cbbc", + "captions.json": "e511858aa211e2f634554f184c05a23ca893ad715c3dddc7c2a84fe9061768e1", + "depth/depth.zip": "5acca487c46c322e2417b851aa1b30d6a77daaca3c3b64e7eab8cce36c4b5992", + "labels/objects.json": "c04d836e702935f2c106390aebe988a05a86f55e9a1e04ac55cd4aa0ddb4b5ee", + "labels/visibility_states.json": "320f98c67fe56d1e6260f8184d98adb94570a9e5c8e6c5df34924588c3ff21e7", + "source/cameras.json": "27f074aa60a377efd777237b0aa1adfa47011160c2bd693392665d543f304b40", + "source/caption.txt": "1074e7b693580def894074dc49238609054abee98cace27f87d08bfa2bd5e0d7", + "source/meta.json": "5788d20af45b8d181d543385680041dcdf8c65d37ae1f0365fde49bc1d9c2a1b", + "source/points_target.npz": "8c562546b1f1639a7276697b60dae696a8478d66e0832a3525ee62835ab5c611", + "source/visibility.json": "34d00cf0890e87980e4adc7571a7f550e78dedf9efbc26878e4a3ab9d7d4909a", + "tracks3d.npz": "e3b9de974d0bffd9e3afe51b1d3044bad9f83659e7043d160cc88b16f1c7a432", + "videos/view0.mp4": "b807bd7793a77bf62fefbd36f7c205c49c93c522014aed33b146f61e8bfc5815", + "videos/view1.mp4": "24a27145195699833e274f91f1e283a0642029214fbbb0f91663ddd6dde67c79", + "videos/view2.mp4": "ce2abe59adf7c1e9e65fee5ba7ee18283985aa332584aa292b68c5329e589ecc" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002060/source/cameras.json b/Simul-Robot/c001_episode_002060/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..a112ff78a876c9b0fb6081ad7e1a4b1a7739e6e2 --- /dev/null +++ b/Simul-Robot/c001_episode_002060/source/cameras.json @@ -0,0 +1,27833 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002060", + "map": "c001", + "frame_count": 256, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/c001_episode_002060/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f4ffb91d52e891b807fac57ab01a026ddfed810 --- /dev/null +++ b/Simul-Robot/c001_episode_002060/source/meta.json @@ -0,0 +1,361 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002060", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002060", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002060", + "robot_yaw_deg": -175.5056, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 256, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 256, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "blue_patterned_mug" + }, + "relay": null + }, + "seed": 859812554, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_marble_rough_bianco_venato_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0094, + "az_delta_deg": 2.544, + "elev_delta_deg": 2.214 + }, + "cam01": { + "dist_scale": 1.0143, + "az_delta_deg": 2.693, + "elev_delta_deg": -0.391 + }, + "cam02": { + "dist_scale": 1.0458, + "az_delta_deg": -2.156, + "elev_delta_deg": -0.514 + } + }, + "arm_contact_quota": 0 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + 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b/Simul-Robot/c001_episode_002120/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..415957f90684cb9cc2dbff16b3b4d42c5e065b76 --- /dev/null +++ b/Simul-Robot/c001_episode_002120/source/cameras.json @@ -0,0 +1,19733 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002120", + "map": "c001", + "frame_count": 181, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y 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b/Simul-Robot/c001_episode_002120/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5428a4eee9c7b6fc0648c5e25c4b19cc255a84a --- /dev/null +++ b/Simul-Robot/c001_episode_002120/source/meta.json @@ -0,0 +1,366 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002120", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002120", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002120", + "robot_yaw_deg": -117.8728, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 181, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [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" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 181, + "per_cam_blind_max_frames": [ + 1, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 138, + 138 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "blue_seasoning_shaker" + }, + "relay": null + }, + "seed": 1334271614, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Wood/MI_wood_cherry_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0281, + "az_delta_deg": 0.361, + "elev_delta_deg": 1.147 + }, + "cam01": { + "dist_scale": 0.9994, + "az_delta_deg": -1.128, + "elev_delta_deg": -1.112 + }, + "cam02": { + "dist_scale": 1.0564, + "az_delta_deg": -2.499, + "elev_delta_deg": -2.906 + } + }, + "arm_contact_quota": 1 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + "tonemap_auto_exposure_method": "UE_STOCK", + "tonemap_min_ev100": -10.0, + "tonemap_max_ev100": 20.0, + "tonemap_auto_exposure_bias": 0.0 + }, + "enforced": false, + "corrections": { + "settings": [], + "cvars": [] + }, + "scope": "global constant across all clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam01": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam02": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + } + }, + "aa": { + "method": "AAM_NONE", + "spatial_sample_count": 2, + "temporal_sample_count": 1 + }, + "lumen_cvars": [ + "r.Lumen.ScreenProbeGather.DownsampleFactor 8", + "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5" + ], + "scope": "global constant across all clips" + }, + "workspace": { + "table_actor": "table_01_aar", + "top_obb": { + "center_cm": [ + 63631.133, + 15904.9888, + 99.9971 + ], + "half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "yaw_deg": -27.8728 + }, + "top_z_probe": { + "z_plane": 99.9971, + "plane_n": 9, + "n_rays": 9, + "plane_frac": 1.0, + "plane_spread_cm": 0.0, + "z_min": 99.9971, + "z_max": 99.9971, + "above_plane_cm": [], + "aabb_top_z": 99.9971, + "aabb_minus_ray_cm": 0.0 + }, + "aim": { + "policy": "target_trajectory_midpoint_on_top_plane", + "aim_cm": [ + 63635.6079, + 15944.4946, + 99.9971 + ], + "aim_obb_local": [ + -14.5135, + 37.0147, + 0.0 + ], + "traj_xy_bbox": [ + [ + 63621.768, + 15929.593 + ], + [ + 63649.448, + 15959.397 + ] + ], + "dist_to_obb_center_cm": 39.758 + } + }, + "scene": { + "map": "c001", + "scene_hint": "neutral" + }, + "objects": { + "replay": [ + "blue_seasoning_shaker", + "yellow_stacking_bin" + ], + "n_objects": 2, + "primary_object": "blue_seasoning_shaker", + "primary_span_cm": 29.804, + "kinds": { + "blue_seasoning_shaker": "target", + "yellow_stacking_bin": "placer" + }, + "targets": [ + "blue_seasoning_shaker" + ], + "placers": [ + "yellow_stacking_bin" + ], + "ambiguous": [], + "motion_cm": { + "yellow_stacking_bin": 0.016, + "blue_seasoning_shaker": 29.804 + }, + "n_distractors": 9, + "arm_contact": [ + "banded_agate_egg_v2" + ], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "hands_used": [ + "left" + ], + "hand_travel_cm": { + "left": 35.7416, + "right": 0.3487 + } + }, + "depth": { + "format": "16-bit PNG, pixel value = centimeters", + "source": "MRQ WorldDepth PP pass, EXR half, cv2 channel index 2 (z-depth)", + "zip_compression": "stored (uncompressed)", + "preview_mp4_is_not_metric": true, + "per_camera": { + "cam00": { + "frames": 181, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 19.031, + "depth_cm_max": 354.25, + "preview_range_cm": [ + 26.484, + 338.75 + ] + }, + "cam02": { + "frames": 181, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.894175, + "depth_valid_ratio_min": 0.893804, + "invalid_row_centroid": 0.084107, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 29.75, + "depth_cm_max": 64480.0, + "preview_range_cm": [ + 30.594, + 28864.0 + ] + }, + "cam01": { + "frames": 181, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.890178, + "depth_valid_ratio_min": 0.889836, + "invalid_row_centroid": 0.103285, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 23.172, + "depth_cm_max": 64512.0, + "preview_range_cm": [ + 24.984, + 27936.0 + ] + } + } + }, + "milestone": "P2-M1", + "generated": "2026-09-12 14:23:50", + "pending": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002280/captions.json b/Simul-Robot/c001_episode_002280/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..d6feb26ba0e04d0aac4732ce29d7c8f87d671c33 --- /dev/null +++ b/Simul-Robot/c001_episode_002280/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The robot's right hand picks up a small brown kraft coffee bag with a folded top from the marble table and carries it into the open square green box, releasing it inside next to a garlic bulb, teal onion, jar, spatula, and pink box on a sunlit outdoor plaza table.", + "structured": { + "targets": [ + "kraft_coffee_bag" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "kraft_coffee_bag", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The robot's right hand picks up a small brown kraft coffee bag with a folded top from the marble table and carries it into the open square green box, releasing it inside next to a garlic bulb, teal onion, jar, spatula, and pink box on a sunlit outdoor plaza table. The camera is static.", + "view1": "The robot's right hand picks up a small brown kraft coffee bag with a folded top from the marble table and carries it into the open square green box, releasing it inside next to a garlic bulb, teal onion, jar, spatula, and pink box on a sunlit outdoor plaza table. The camera is static.", + "view2": "The robot's right hand picks up a small brown kraft coffee bag with a folded top from the marble table and carries it into the open square green box, releasing it inside next to a garlic bulb, teal onion, jar, spatula, and pink box on a sunlit outdoor plaza table. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002280/labels/objects.json b/Simul-Robot/c001_episode_002280/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..e88007deaa5675dfb7cd949763188935d0c9caf3 --- /dev/null +++ b/Simul-Robot/c001_episode_002280/labels/objects.json @@ -0,0 +1,2546 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002280", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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+ "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "kraft_coffee_bag" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002280/sample.json b/Simul-Robot/c001_episode_002280/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..a00227abbe1cab5692c63eeb0d9e64cc31d2847f --- /dev/null +++ b/Simul-Robot/c001_episode_002280/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002280", + "subset": "Simul-Robot", + "id": "c001_episode_002280", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002280", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002280", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 15:06:54" + }, + "n_views": 3, + "n_frames": 198, + "fps": 20.0, + "duration_s": 9.9, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 113759.6373, + -60762.4533, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 73.0331 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 113759.6373, + -60762.4533, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 45, + "visible_dropped_by_reason": { + "near_plane": 45, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The robot's right hand picks up a small brown kraft coffee bag with a folded top from the marble table and carries it into the open square green box, releasing it inside next to a garlic bulb, teal onion, jar, spatula, and pink box on a sunlit outdoor plaza table.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "kraft_coffee_bag", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 6, + "hands_used": [ + "right" + ], + "primary_object": "kraft_coffee_bag", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 835, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it into", + "primary_end_speed_mean_m_per_frame": 6e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0044, + "primary_end_hand_dist_m": 0.3256, + "primary_end_support_dist_m": 0.0072, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "kraft_coffee_bag": 0.4057 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "862024e03af2b913763829f0318d2d445c18b25bfba9dba96c62c3f34cd7b942", + "captions.json": "293bc444f5f05827b254ce2c7143aff66f1cf6eaff9fe3e9f7c4c967983b616c", + "depth/depth.zip": "4fbd43f0fb06eb812f71fbaab6e35186dbafcbbfd6f09afb1d1a7c6cfa52ac3e", + "labels/objects.json": "b975d5e2133236d6f1586e91523727e3bc38f14c52389d243fcd59639c2ccc26", + "labels/visibility_states.json": "7327c0829f9768d78e49dabe3737873c0a74348b37d757c4d94436c21dd19dd7", + "source/cameras.json": "18c78d3b712f348bc464b8039dd0f3eea45e4b1b559d992e05a87e1e68afe10e", + "source/caption.txt": "92d881e32b608f5592fe313a0cea788f2a4bebdb5de54d9aa427971d01c06d4f", + "source/meta.json": "5fb5553b7b6302f0e60313b3c8de09b76b2f7b8f7227ffa93a21dd9f9834bec8", + "source/points_target.npz": "8c05f01dd88305a64f8a3ba8a542ced1ddb7f917b3dc24720db4680c296af7d3", + "source/visibility.json": "4c1a407322352b8a5b35686f353c429d0acb7d7574b3ab24a7f579c883b25700", + "tracks3d.npz": "22b2711a3fbafedf2aa49a48280140d596f7aca387f6470253ccd55c3e9db39e", + "videos/view0.mp4": "3f2e7f321517be4e72b72a18f42b8646863a91d1e73e8f630888d0c84c1f440d", + "videos/view1.mp4": "9612de0d143f604bbfa2e34bb340cfafcaaa8006b1ecb6b972a36dbf5f5e2e87", + "videos/view2.mp4": "d6748a283a882cbabf065eef49f0912af16aad8893f1046e88af75f77179bcc3" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002280/source/cameras.json b/Simul-Robot/c001_episode_002280/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..58aa888f85b56aae8fab61da575b3660060bbbc7 --- /dev/null +++ b/Simul-Robot/c001_episode_002280/source/cameras.json @@ -0,0 +1,21569 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002280", + "map": "c001", + "frame_count": 198, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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new file mode 100644 index 0000000000000000000000000000000000000000..e1100c85580090c8185667ad969a203ae3bdd11b --- /dev/null +++ b/Simul-Robot/c001_episode_002280/source/meta.json @@ -0,0 +1,364 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002280", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002280", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002280", + "robot_yaw_deg": -16.9668, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 198, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, 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marble tabletop, lifts and carries it, then places it inside the red plastic tote, amid nearby garlic, a toy truck, a pink vase, and a sugar packet under bright daylight.", + "structured": { + "targets": [ + "blue_frog_can" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "blue_frog_can", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to grasp a small blue frog-labeled can from the marble tabletop, lifts and carries it, then places it inside the red plastic tote, amid nearby garlic, a toy truck, a pink vase, and a sugar packet under bright daylight. The camera is static.", + "view1": "The humanoid robot uses its left hand to grasp a small blue frog-labeled can from the marble tabletop, lifts and carries it, then places it inside the red plastic tote, amid nearby garlic, a toy truck, a pink vase, and a sugar packet under bright daylight. The camera is static.", + "view2": "The humanoid robot uses its left hand to grasp a small blue frog-labeled can from the marble tabletop, lifts and carries it, then places it inside the red plastic tote, amid nearby garlic, a toy truck, a pink vase, and a sugar packet under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002470/labels/objects.json b/Simul-Robot/c001_episode_002470/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..376be51726f9f97b2d7b7488770a8e09e9977e19 --- /dev/null +++ b/Simul-Robot/c001_episode_002470/labels/objects.json @@ -0,0 +1,2983 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002470", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"per_cam_blind_max_frames": [ + 1, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 201, + 201 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "blue_frog_can" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002470/sample.json b/Simul-Robot/c001_episode_002470/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..3ede33dd423bb07787e2ba08c021ab0ca81fc1b0 --- /dev/null +++ b/Simul-Robot/c001_episode_002470/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002470", + "subset": "Simul-Robot", + "id": "c001_episode_002470", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002470", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002470", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 16:35:54" + }, + "n_views": 3, + "n_frames": 242, + "fps": 20.0, + "duration_s": 12.1, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 64556.2034, + -15190.3243, + 106.0937 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 136.3486 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 64556.2034, + -15190.3243, + 106.0937 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to grasp a small blue frog-labeled can from the marble tabletop, lifts and carries it, then places it inside the red plastic tote, amid nearby garlic, a toy truck, a pink vase, and a sugar packet under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "blue_frog_can", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 9, + "hands_used": [ + "left" + ], + "primary_object": "blue_frog_can", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 787, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it, then places it inside", + "primary_end_speed_mean_m_per_frame": 0.00031, + "primary_end_net_disp_10_frames_m": 0.0006, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0025, + "primary_end_hand_dist_m": 0.2777, + "primary_end_support_dist_m": 0.0066, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_frog_can": 0.2012 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "73c3b228f2ad1ca6f3053cda625e4df3d8d1dcf302f22aac2668c737e4c355cc", + "captions.json": "abdd391c328782998a7de636cc88e7f3ca6561276fc76dce141e5cecb6014cfd", + "depth/depth.zip": "d44cd4406dff6efeef821cbbf08aa6fb4159b1cdd7917ff3ee82ab50f3712073", + "labels/objects.json": "cf03e4f3533fc315082eb38a3b00adb18dba151c19d3fceb1d130dd569443deb", + "labels/visibility_states.json": "de2379a9a7126ffe23826518f9e9e6f2f9186f77918fa66d94886a1fb42ef23b", + "source/cameras.json": "b8e064ee80ddb74240a7bb950c16408b70b4a03d4582cb6417b749ef78568a0e", + "source/caption.txt": "db4b5b247d411d8ecd6c39c5b965f5e5c2a513af6368c433e63f5df6cc776565", + "source/meta.json": "0c9148ec6173b41c9a63e235012d8518bbd5d70e9be5b0d21e4a45a1f417c9c1", + "source/points_target.npz": "70ec7a4b8538caec8aaddf7228888b58be1e178272212ba38364b8a868bdc208", + "source/visibility.json": "44e751feed0ad4b91615ef15c71531a8c569804ff631c49fdf0008c99062d885", + "tracks3d.npz": "ee57875bff2b40cc568a2c7e73b6a7b42d2f63b67a8805918e41ea3e53d53352", + "videos/view0.mp4": "14592ba6cfcdfc781256cfd45770dbeb6a5ae16cddb0a638aef323731c6e6593", + "videos/view1.mp4": "2a73dfc3bd1b84f262636f2ecd8539a4bccecf7c84966e92250f9dc317bdd8b8", + "videos/view2.mp4": "781cd2cba888adc55240c04289f1650cde1f1b4924cd66cea9a2405d4562fbc7" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002470/source/cameras.json b/Simul-Robot/c001_episode_002470/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e8eab07698d959b5ec59fcc9e8b45890f4de20 --- /dev/null +++ b/Simul-Robot/c001_episode_002470/source/cameras.json @@ -0,0 +1,26321 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002470", + "map": "c001", + "frame_count": 242, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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+ 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002470/source/caption.txt b/Simul-Robot/c001_episode_002470/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..a091c417ad8f45d6736021a4116c4b2560905b32 --- /dev/null +++ b/Simul-Robot/c001_episode_002470/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its left hand to grasp a small blue frog-labeled can from the marble tabletop, lifts and carries it, then places it inside the red plastic tote, amid nearby garlic, a toy truck, a pink vase, and a sugar packet under bright daylight. diff --git a/Simul-Robot/c001_episode_002470/source/meta.json b/Simul-Robot/c001_episode_002470/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd753875be17caa0dda61be113428a2756abb6e9 --- /dev/null +++ b/Simul-Robot/c001_episode_002470/source/meta.json @@ -0,0 +1,364 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002470", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002470", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002470", + "robot_yaw_deg": 46.3487, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 242, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 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" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 242, + "per_cam_blind_max_frames": [ + 1, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 201, + 201 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "blue_frog_can" + }, + "relay": null + }, + "seed": 550349451, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_marble_rough_grigio_carnico_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0472, + "az_delta_deg": 2.163, + "elev_delta_deg": 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0000000000000000000000000000000000000000..37476b84ff2513baf7c920ef7db45c18f54cc6c8 --- /dev/null +++ b/Simul-Robot/c001_episode_002720/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from a marble table and lowers it into an open square green box, moving several soda cans, a small toy truck, and a shell-shaped object nearby under bright daylight.", + "structured": { + "targets": [ + "blue_patterned_mug" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "blue_patterned_mug", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from a marble table and lowers it into an open square green box, moving several soda cans, a small toy truck, and a shell-shaped object nearby under bright daylight. The camera is static.", + "view1": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from a marble table and lowers it into an open square green box, moving several soda cans, a small toy truck, and a shell-shaped object nearby under bright daylight. The camera is static.", + "view2": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from a marble table and lowers it into an open square green box, moving several soda cans, a small toy truck, and a shell-shaped object nearby under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002720/labels/objects.json b/Simul-Robot/c001_episode_002720/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..1b5919af9158e173c90715d8394c3a6a0592faf3 --- /dev/null +++ b/Simul-Robot/c001_episode_002720/labels/objects.json @@ -0,0 +1,2628 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002720", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "blue_patterned_mug", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/blue_patterned_mug/StaticMeshes/ceramic_mug.ceramic_mug", + "bounds_cm": [ + -5.237, + -6.5807, + 0.0018, + 4.459, + 6.1407, + 8.4111 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 533.5631, + "n_verts": 8010, + "n_tris": 13600, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 45.617, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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+ "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002720/sample.json b/Simul-Robot/c001_episode_002720/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2fd44991dccd8c3fdb14d5dd9e9520cae239ab --- /dev/null +++ b/Simul-Robot/c001_episode_002720/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002720", + "subset": "Simul-Robot", + "id": "c001_episode_002720", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002720", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002720", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 18:31:47" + }, + "n_views": 3, + "n_frames": 206, + "fps": 20.0, + "duration_s": 10.3, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 44110.797, + -25304.391, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -99.5895 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 44110.797, + -25304.391, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from a marble table and lowers it into an open square green box, moving several soda cans, a small toy truck, and a shell-shaped object nearby under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "blue_patterned_mug", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 9, + "hands_used": [ + "right" + ], + "primary_object": "blue_patterned_mug", + "distractor_max_pushed_cm": 7.586, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 894, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "lowers it into", + "primary_end_speed_mean_m_per_frame": 1e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0027, + "primary_end_hand_dist_m": 0.192, + "primary_end_support_dist_m": 0.0072, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_patterned_mug": 0.26358 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "214cfc8a6ff6f831b506bb327ad5974390216abef825594c3ba49d15a733f3f0", + "captions.json": "306429ee5e20e9272e4e174438680b3615e0f61209b830818485347b83d9790a", + "depth/depth.zip": "c012b1e0da5f15e6aa7bdb8619d9ed78c88d020a95be018657d523b4700bd583", + "labels/objects.json": "ebd9315709ccfbbb9bb68fb485691f9c80ff4bed63f4cfa72a636166f451d3e0", + "labels/visibility_states.json": "ec29d19542e5e125eef4edea3fa526a105535f97eee81553a2e9780414173d9b", + "source/cameras.json": "ec494d3f525f14e6fbe880b4317f5f39bf1fe8b8f0166aa653fd0f4104dfd170", + "source/caption.txt": "8041395cd4ba77352922391db4cb00b8f4e74b88575981bfb237e4d97cddc14c", + "source/meta.json": "62bba13cc34341040436a9aa4d0106512fce64bf43fed3b4f50d6a3a179e607e", + "source/points_target.npz": "47e8f05c8ac82c34ab7fb5b7a469aecff5676eda2f9dc438cc1b85d5859247c7", + "source/visibility.json": "51e038611233787c4ebb48857c93b2a0fb383f1ef00908ad2e6891a2b5a4ccf6", + "tracks3d.npz": "d5f111d4c9d4e415594987b22f9222918e291c2456d4e1cc22f878b2b4d86553", + "videos/view0.mp4": "df45a803af2a7a14b2297933affab9fd00b881dc42303471b7ea0705ce6c766c", + "videos/view1.mp4": "b704935128a833481937ce6c21108cb431d8494edb47648f02f6e6adaa105c37", + "videos/view2.mp4": "2987f0a90b92c8851c08d281a57ab3cee340efe47ba89975d459baa95852e8e5" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002720/source/cameras.json b/Simul-Robot/c001_episode_002720/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf869cc53ec502d61e083475ce2e8d5913cad12 --- /dev/null +++ b/Simul-Robot/c001_episode_002720/source/cameras.json @@ -0,0 +1,22433 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002720", + "map": "c001", + "frame_count": 206, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0.0, + 1.0 + ] + ] + } + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002720/source/caption.txt b/Simul-Robot/c001_episode_002720/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c6eb610d132a6e0a6e607fec1627a14349e76760 --- /dev/null +++ b/Simul-Robot/c001_episode_002720/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from a marble table and lowers it into an open square green box, moving several soda cans, a small toy truck, and a shell-shaped object nearby under bright daylight. diff --git a/Simul-Robot/c001_episode_002720/source/meta.json b/Simul-Robot/c001_episode_002720/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d13378748baa754b16131caf0bdaef07899919d --- /dev/null +++ b/Simul-Robot/c001_episode_002720/source/meta.json @@ -0,0 +1,366 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002720", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002720", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002720", + "robot_yaw_deg": 170.4105, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 206, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 206, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "blue_patterned_mug" + }, + "relay": null + }, + "seed": 498065557, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_granite_rough_santa_cecilia_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0289, + "az_delta_deg": -0.872, + "elev_delta_deg": 1.76 + }, + "cam01": { + "dist_scale": 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clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam01": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam02": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + 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w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002840/captions.json b/Simul-Robot/c001_episode_002840/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..cf07bbf924c6e75d9a3ee45e23fc9ae8cf387f91 --- /dev/null +++ b/Simul-Robot/c001_episode_002840/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from the marble table, lifts and carries it, then lowers and places it inside a red plastic tote, near an avocado, eggs, a seashell, and a box on the sunlit outdoor plaza table.", + "structured": { + "targets": [ + "blue_patterned_mug" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "blue_patterned_mug", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from the marble table, lifts and carries it, then lowers and places it inside a red plastic tote, near an avocado, eggs, a seashell, and a box on the sunlit outdoor plaza table. The camera is static.", + "view1": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from the marble table, lifts and carries it, then lowers and places it inside a red plastic tote, near an avocado, eggs, a seashell, and a box on the sunlit outdoor plaza table. The camera is static.", + "view2": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from the marble table, lifts and carries it, then lowers and places it inside a red plastic tote, near an avocado, eggs, a seashell, and a box on the sunlit outdoor plaza table. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002840/labels/objects.json b/Simul-Robot/c001_episode_002840/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..6b5609bdb06115901d3c096d42a0882c45749a7d --- /dev/null +++ b/Simul-Robot/c001_episode_002840/labels/objects.json @@ -0,0 +1,3085 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002840", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "blue_patterned_mug", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/blue_patterned_mug/StaticMeshes/ceramic_mug.ceramic_mug", + "bounds_cm": [ + -5.237, + -6.5807, + 0.0018, + 4.459, + 6.1407, + 8.4111 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 533.5631, + "n_verts": 8010, + "n_tris": 13600, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 35.011, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"blue_patterned_mug" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002840/sample.json b/Simul-Robot/c001_episode_002840/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..4cbb08969dd8ebf41d6f61e23b261092226194c1 --- /dev/null +++ b/Simul-Robot/c001_episode_002840/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002840", + "subset": "Simul-Robot", + "id": "c001_episode_002840", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002840", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002840", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 19:43:23" + }, + "n_views": 3, + "n_frames": 252, + "fps": 20.0, + "duration_s": 12.6, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 75867.169, + 24082.4992, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -130.1476 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 75867.169, + 24082.4992, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its right hand to pick up a blue-and-white patterned mug from the marble table, lifts and carries it, then lowers and places it inside a red plastic tote, near an avocado, eggs, a seashell, and a box on the sunlit outdoor plaza table.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "blue_patterned_mug", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 8, + "hands_used": [ + "right" + ], + "primary_object": "blue_patterned_mug", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 855, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 8e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0028, + "primary_end_hand_dist_m": 0.2337, + "primary_end_support_dist_m": 0.0029, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_patterned_mug": 0.28569 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "bdc3a2d91f4a41138ff816b82a72474502e61db7ebad8065c1f19611fbaac8f6", + "captions.json": "81f7c8d39596197177bf120345faf3ac834cb0995fabd4a028d3240171dd9443", + "depth/depth.zip": "73040e53ea181af6bb92b9dfc912d97ed5135eaa467c24f347a4286580f03470", + "labels/objects.json": "643d58331db3595b1e2e6501589943d1394fe8d56f8cce74e888e7180cbd9d9b", + "labels/visibility_states.json": "b171053cd100b2e6e07b822e88db65d5802e60d9745b3516ada92157c8362408", + "source/cameras.json": "375c5b92440a53c754792bf7efd92161e2718bce185f7506676e75974f473a1a", + "source/caption.txt": "a13eba6db6d772ac138b45236d25dc3aa03ffe7e4814204970f068b52f4e83bc", + "source/meta.json": "8c61faa64b129958cdacb18923767fe9a2f8ed73f4b6ef0054f7cc223765abc0", + "source/points_target.npz": "bfc59e0c1f66a625b03d6f781255ca77eb28c17f4aa5acd4d80cccea0c60a27b", + "source/visibility.json": "7e6e25a44820f70a7142f974c3054c52da2fbf1a73796179230ff2b7bd1b631a", + "tracks3d.npz": "09d103aa83343b7edb5b8c09ebe1aaa2284f106c947efb6bc45cdb54992d7bb6", + "videos/view0.mp4": "8bb7689c7ff054ae99ee6e89f1dd7bc802326d9085db3ab16b34f0d77617c94f", + "videos/view1.mp4": "c011a276bf724f193dd24992e3090d370b24ca54efc57794b5f1ea4e4643faa2", + "videos/view2.mp4": "e801cca2479063da9adaab169401216114f370469ebdaa30dfee56df36be8513" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002840/source/meta.json b/Simul-Robot/c001_episode_002840/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55559e6d4c0ed7c711d6fd92efde3624f722b21d --- /dev/null +++ b/Simul-Robot/c001_episode_002840/source/meta.json @@ -0,0 +1,363 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002840", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002840", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002840", + "robot_yaw_deg": 139.8525, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 252, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 252, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "blue_patterned_mug" + }, + "relay": null + }, + "seed": 1015669035, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_marble_rough_rojo_alicante_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 0.9629, + "az_delta_deg": 1.775, + "elev_delta_deg": 0.922 + }, + "cam01": { + "dist_scale": 1.0491, + "az_delta_deg": -1.078, + "elev_delta_deg": 2.933 + }, + "cam02": { + "dist_scale": 0.984, + "az_delta_deg": 1.431, + "elev_delta_deg": 2.961 + } + }, + "arm_contact_quota": 1 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + "tonemap_auto_exposure_method": "UE_STOCK", + "tonemap_min_ev100": -10.0, + "tonemap_max_ev100": 20.0, + "tonemap_auto_exposure_bias": 0.0 + }, + "enforced": false, + "corrections": { + "settings": [], + "cvars": [] + }, + "scope": "global constant across all clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam01": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam02": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + } + }, + "aa": { + "method": "AAM_NONE", + "spatial_sample_count": 2, + "temporal_sample_count": 1 + }, + "lumen_cvars": [ + "r.Lumen.ScreenProbeGather.DownsampleFactor 8", + "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5" + ], + "scope": "global constant across all clips" + }, + "workspace": { + "table_actor": "table_01_aar", + "top_obb": { + "center_cm": [ + 75867.169, + 24082.4992, + 99.9971 + ], + "half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "yaw_deg": -130.1476 + }, + "top_z_probe": { + "z_plane": 99.9971, + "plane_n": 9, + "n_rays": 9, + "plane_frac": 1.0, + "plane_spread_cm": 0.0, + "z_min": 99.9971, + "z_max": 99.9971, + "above_plane_cm": [], + "aabb_top_z": 99.9971, + "aabb_minus_ray_cm": 0.0 + }, + "aim": { + "policy": "target_trajectory_midpoint_on_top_plane", + "aim_cm": [ + 75883.4842, + 24036.9702, + 99.9971 + ], + "aim_obb_local": [ + 24.2823, + 41.8263, + 0.0 + ], + "traj_xy_bbox": [ + [ + 75872.323, + 24019.464 + ], + [ + 75894.646, + 24054.476 + ] + ], + "dist_to_obb_center_cm": 48.364 + } + }, + "scene": { + "map": "c001", + "scene_hint": "neutral" + }, + "objects": { + "replay": [ + "blue_patterned_mug", + "red_plastic_tote" + ], + "n_objects": 2, + "primary_object": "blue_patterned_mug", + "primary_span_cm": 35.011, + "kinds": { + "blue_patterned_mug": "target", + "red_plastic_tote": "placer" + }, + "targets": [ + "blue_patterned_mug" + ], + "placers": [ + "red_plastic_tote" + ], + "ambiguous": [], + "motion_cm": { + "blue_patterned_mug": 35.011, + "red_plastic_tote": 0.001 + }, + "n_distractors": 8, + "arm_contact": [ + "teal_stone_egg_v3" + ], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "hands_used": [ + "right" + ], + "hand_travel_cm": { + "left": 0.3474, + "right": 40.9232 + } + }, + "depth": { + "format": "16-bit PNG, pixel value = centimeters", + "source": "MRQ WorldDepth PP pass, EXR half, cv2 channel index 2 (z-depth)", + "zip_compression": "stored (uncompressed)", + "preview_mp4_is_not_metric": true, + "per_camera": { + "cam02": { + "frames": 252, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 29.703, + "depth_cm_max": 57504.0, + "preview_range_cm": [ + 30.109, + 42016.0 + ] + }, + "cam01": { + "frames": 252, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.999963, + "depth_valid_ratio_min": 0.999963, + "invalid_row_centroid": 0.00132, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 16.219, + "depth_cm_max": 64480.0, + "preview_range_cm": [ + 23.969, + 6468.08 + ] + }, + "cam00": { + "frames": 252, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.997788, + "depth_valid_ratio_min": 0.997245, + "invalid_row_centroid": 0.030867, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 19.906, + "depth_cm_max": 64992.0, + "preview_range_cm": [ + 21.266, + 15456.0 + ] + } + } + }, + "milestone": "P2-M1", + "generated": "2026-09-12 19:43:23", + "pending": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002840/source/visibility.json b/Simul-Robot/c001_episode_002840/source/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..e7e822a57b97d4e0c1ac8a769c622386decdaace --- /dev/null +++ b/Simul-Robot/c001_episode_002840/source/visibility.json @@ -0,0 +1,12754 @@ +{ + "schema": "pnp2.visibility/1", + "clip_id": "c001_episode_002840", + "map": "c001", + "fps": 20.0, + "frame_count": 252, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "cameras_moving": [ + false, + false, + false + ], + "targets": [ + { + "id": "blue_patterned_mug", + "asset": "/PSLAssetLibrary/blue_patterned_mug/StaticMeshes/ceramic_mug.ceramic_mug", + "kind": "target", + "is_primary": true + }, + { + "id": "red_plastic_tote", + "asset": "/PSLAssetLibrary/red_plastic_tote/StaticMeshes/grey_bin.grey_bin", + "kind": "placer" + } + ], + "states": [ + "visible", + "occluded", + "out_of_frustum", + "not_spawned" + ], + "states_rule": { + "occluded_visible_frac_max": 0.1, + "denominator": "points inside frustum", + "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다." + }, 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"The humanoid robot uses its right hand to pick up a slender white bottle with a green cap from the marble tabletop, lifts and carries it, then places it upright on a red-rimmed white plate, amid a milk carton, small figurines, a toy robot, and an elephant statuette under bright outdoor daylight with city buildings in the background.", + "structured": { + "targets": [ + "ranch_dressing_bottle" + ], + "placers": [ + "red_rimmed_plate" + ], + "primary_object": "ranch_dressing_bottle", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its right hand to pick up a slender white bottle with a green cap from the marble tabletop, lifts and carries it, then places it upright on a red-rimmed white plate, amid a milk carton, small figurines, a toy robot, and an elephant statuette under bright outdoor daylight with city buildings in the background. The camera is static.", + "view1": "The humanoid robot uses its right hand to pick up a slender white bottle with a green cap from the marble tabletop, lifts and carries it, then places it upright on a red-rimmed white plate, amid a milk carton, small figurines, a toy robot, and an elephant statuette under bright outdoor daylight with city buildings in the background. The camera is static.", + "view2": "The humanoid robot uses its right hand to pick up a slender white bottle with a green cap from the marble tabletop, lifts and carries it, then places it upright on a red-rimmed white plate, amid a milk carton, small figurines, a toy robot, and an elephant statuette under bright outdoor daylight with city buildings in the background. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002920/labels/objects.json b/Simul-Robot/c001_episode_002920/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..1ae152595c4f0e0fae401bea3eef013e926d15b3 --- /dev/null +++ b/Simul-Robot/c001_episode_002920/labels/objects.json @@ -0,0 +1,2816 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002920", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "ranch_dressing_bottle", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/ranch_dressing_bottle/StaticMeshes/salad_dressing_bottle.salad_dressing_bottle", + "bounds_cm": [ + -2.2502, + -3.431, + -0.0041, + 2.1241, + 2.9586, + 14.7093 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 232.6454, + "n_verts": 5007, + "n_tris": 8316, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 37.414, + "pushed_cm": null, + "fell_off": false, + 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"right" + ], + "hand_travel_cm": { + "left": 0.3608, + "right": 47.8227 + }, + "points_per_side": { + "left": 256, + "right": 256 + }, + "hand_points_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "side_convention": "the robot's own left/right", + "propagation": "per-link rigid (link world transform per frame)" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002920/labels/visibility_states.json b/Simul-Robot/c001_episode_002920/labels/visibility_states.json new file mode 100644 index 0000000000000000000000000000000000000000..7f78ffc69990c767d6fdc8a6b965a3464acccd77 --- /dev/null +++ b/Simul-Robot/c001_episode_002920/labels/visibility_states.json @@ -0,0 +1,6864 @@ +{ + "schema": "vpm-worldbench/simul-robot/visibility_states/1.0", + "id": "c001_episode_002920", + "n_frames": 225, + "views": [ + "view0", + "view1", + "view2" + ], + "source_views": [ + "cam00", + "cam01", + "cam02" + ], + "states": [ + 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"right": 47.8227 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 0, + "hard_target": "ranch_dressing_bottle", + "hard_metrics": { + "num_cams": 3, + "frames": 225, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "ranch_dressing_bottle" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002920/sample.json b/Simul-Robot/c001_episode_002920/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c4dfc868e285133f8956da62781ce858887d0b --- /dev/null +++ b/Simul-Robot/c001_episode_002920/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002920", + "subset": "Simul-Robot", + "id": "c001_episode_002920", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002920", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002920", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 20:38:36" + }, + "n_views": 3, + "n_frames": 225, + "fps": 20.0, + "duration_s": 11.25, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 128079.2533, + -6320.7291, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -166.0106 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 128079.2533, + -6320.7291, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its right hand to pick up a slender white bottle with a green cap from the marble tabletop, lifts and carries it, then places it upright on a red-rimmed white plate, amid a milk carton, small figurines, a toy robot, and an elephant statuette under bright outdoor daylight with city buildings in the background.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "ranch_dressing_bottle", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 9, + "hands_used": [ + "right" + ], + "primary_object": "ranch_dressing_bottle", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 896, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 5e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0047, + "primary_end_hand_dist_m": 0.235, + "primary_end_support_dist_m": 0.0021, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "ranch_dressing_bottle": 0.22181 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "d2bdffa1a90660480d1dd0616f51762a0fceaaf73186562278c87d18124ebd55", + "captions.json": "88c7168e7fa0e1a549760b92b9df75335ebb95773bc14d14d05fe2f0522bdb0c", + "depth/depth.zip": "b36563ea96d55467f54528cb54118df27753c8ec7608b2546a9b2b743ba8f710", + "labels/objects.json": "aeca79a4b733591dcb6afadfc90f52bdbb9a724f43a7b1b581b2d96d77fd392f", + "labels/visibility_states.json": "65377c3cb829dacf2a6d2d6d6ea19d5ad11d9ac18245fe7119f1feb8a6165555", + "source/cameras.json": "2c441e2d1434693efd6f0b2eb277fdba12b3f4f3eb1183734cf627c0a3a2ded2", + "source/caption.txt": "3b638f74817a58d0f80c592ce6e5420975070eec1c8738c48dd1f6302d2e929c", + "source/meta.json": "6242ee6c53f5c5775a5dc68897d16c9cb9a3f12130601bc2501057dcdf347b70", + "source/points_target.npz": "f93fdb04a78dd4dd38b4f673989e16fbad6dc98d0d9a2d544b6ff9dba2cba28a", + "source/visibility.json": "aa779c109e559e3b553d659bf55da5d8b79366b24afc31ba206ffac4eff82a70", + "tracks3d.npz": "6a47e2b7d60b99d8761514aa3743b03d4657b7ec8cd938c2fe5f71db749e9abc", + "videos/view0.mp4": "27494e6bad96871c570f3486fc4d8d565942b5b623481774cb95573b2822f4ef", + "videos/view1.mp4": "28b766a22685a39ab7724f775fcdafa26144d9124775041bfac2d7bb8d63a6ee", + "videos/view2.mp4": "eab0c46c61d164ebdacb1534bb180fb14f91ec64332e85c4ddd63ce96f3af934" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002920/source/cameras.json b/Simul-Robot/c001_episode_002920/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..3e7ce431fa3e6e57515fe47f3c2183658abe102f --- /dev/null +++ b/Simul-Robot/c001_episode_002920/source/cameras.json @@ -0,0 +1,24485 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002920", + "map": "c001", + "frame_count": 225, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..427a22575063bf42266cfa4ace8d32cba0588d95 --- /dev/null +++ b/Simul-Robot/c001_episode_002920/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its right hand to pick up a slender white bottle with a green cap from the marble tabletop, lifts and carries it, then places it upright on a red-rimmed white plate, amid a milk carton, small figurines, a toy robot, and an elephant statuette under bright outdoor daylight with city buildings in the background. diff --git a/Simul-Robot/c001_episode_002920/source/meta.json b/Simul-Robot/c001_episode_002920/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..811c6046a7017acb6a34f681bd31419122569b73 --- /dev/null +++ b/Simul-Robot/c001_episode_002920/source/meta.json @@ -0,0 +1,380 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002920", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002920", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002920", + "robot_yaw_deg": 103.9895, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 225, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 225, + 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above the white, red-rimmed plate before setting it down there, surrounded by a purple jar, an orange, a small figurine, and canned drinks on a wooden table in bright daylight near a storefront.", + "structured": { + "targets": [ + "red_milk_carton" + ], + "placers": [ + "red_rimmed_plate" + ], + "primary_object": "red_milk_carton", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a red-and-white \"Dairy Fresh Milk\" carton and lifts it above the white, red-rimmed plate before setting it down there, surrounded by a purple jar, an orange, a small figurine, and canned drinks on a wooden table in bright daylight near a storefront. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a red-and-white \"Dairy Fresh Milk\" carton and lifts it above the white, red-rimmed plate before setting it down there, surrounded by a purple jar, an orange, a small figurine, and canned drinks on a wooden table in bright daylight near a storefront. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a red-and-white \"Dairy Fresh Milk\" carton and lifts it above the white, red-rimmed plate before setting it down there, surrounded by a purple jar, an orange, a small figurine, and canned drinks on a wooden table in bright daylight near a storefront. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002990/labels/objects.json b/Simul-Robot/c001_episode_002990/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..3a550edc330b63ace902d8976c4a3b1ebfc5ce17 --- /dev/null +++ b/Simul-Robot/c001_episode_002990/labels/objects.json @@ -0,0 +1,2075 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_002990", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "red_milk_carton", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/red_milk_carton/StaticMeshes/milk_carton.milk_carton", + "bounds_cm": [ + -3.6631, + -3.6077, + -9.5179, + 3.6631, + 3.6077, + 9.5179 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 581.6951, + "n_verts": 8388, + "n_tris": 14614, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 42.077, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"all_blind_frames": 0, + "occluded_frames_total": 7, + "occluded_frames_per_cam": [ + 7, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "red_milk_carton" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": { + "enabled": true, + "schema": "pnp2.relay/1", + "attempt": 1, + "low_cam": "cam00", + "phases": { + "0": [ + "cam00" + ], + "1": [ + "cam01", + "cam02" + ] + }, + "low_blind_run": [ + 80, + 150 + ], + "low_blind_frames": 71, + "overlap_policy": "adaptive", + "stagger_frames": 51, + "out_frames": 34, + "lead_frames": 7, + "windows": { + "cam01": { + "open_start": 7, + "blind_start": 25, + "blind_end": 58 + }, + "cam02": { + "open_start": 57, + "blind_start": 76, + "blind_end": 109 + } + }, + "budget": { + "cam01": { + "half_deg": 50.25, + "dist_min_cm": 39.24, + "dist_med_cm": 45.21, + "offset_floor_frac": 2.2348, + "slew_cap_deg_per_frame": 4.02, + "open_frames": 18, + "return_frames": 32, + "window_frames": 84 + }, + "cam02": { + "half_deg": 33.5, + "dist_min_cm": 54.42, + "dist_med_cm": 61.29, + "offset_floor_frac": 1.7682, + "slew_cap_deg_per_frame": 2.68, + "open_frames": 19, + "return_frames": 33, + "window_frames": 86 + } + }, + "offsets": { + "cam01": { + "score": 10.843653702560765, + "frac": 2.2348, + "dir_index": 11, + "aim_cm": [ + 4672.914, + 26310.584, + -53.778 + ], + "offset_cm": 196.98, + "offset_deg": 69.587, + "off_rot": [ + -68.5764, + 62.4194, + 0.0 + ], + "reached_at": 25 + }, + "cam02": { + "score": 5.70499013133778, + "frac": 1.7682, + "dir_index": 15, + "aim_cm": [ + 4549.571, + 26256.316, + 84.256 + ], + "offset_cm": 71.7, + "offset_deg": 49.488, + "off_rot": [ + -30.0685, + 144.362, + 0.0 + ], + "reached_at": 76 + } + }, + "sight_sample_points": 32, + "predicted_label": { + "difficulty": "hard", + "hard_k": 2, + "hard_metrics": { + "num_cams": 3, + "frames": 151, + "per_cam_blind_max_frames": [ + 71, + 42, + 46 + ], + "per_cam_blind_run": [ + [ + 80, + 150 + ], + [ + 22, + 63 + ], + [ + 68, + 113 + ] + ], + "per_cam_blind_displacement_cm": [ + 6.45, + 20.446, + 14.755 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 71, + "occluded_frames_per_cam": [ + 71, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 1, + "target": "red_milk_carton" + } + } + }, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002990/sample.json b/Simul-Robot/c001_episode_002990/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..fa86e6aeedfeaa455ce34f12a309a9e59799e80a --- /dev/null +++ b/Simul-Robot/c001_episode_002990/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_002990", + "subset": "Simul-Robot", + "id": "c001_episode_002990", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_002990", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002990", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 21:07:01" + }, + "n_views": 3, + "n_frames": 151, + "fps": 20.0, + "duration_s": 7.55, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 4607.2216, + 26235.1595, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 1.9633 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 4607.2216, + 26235.1595, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 10, + "visible_dropped_by_reason": { + "near_plane": 10, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a red-and-white \"Dairy Fresh Milk\" carton and lifts it above the white, red-rimmed plate before setting it down there, surrounded by a purple jar, an orange, a small figurine, and canned drinks on a wooden table in bright daylight near a storefront.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "red_milk_carton", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 10, + "hands_used": [ + "left" + ], + "primary_object": "red_milk_carton", + "distractor_max_pushed_cm": 17.831, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 702, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "setting it down", + "primary_end_speed_mean_m_per_frame": 0.00041, + "primary_end_net_disp_10_frames_m": 0.0002, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0043, + "primary_end_hand_dist_m": 0.2379, + "primary_end_support_dist_m": 0.0044, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "red_milk_carton": 0.46686 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "4542358fb41ea1e397c8981e7faa3e12555be40432ed2bd14a3f64d5a10cd5fa", + "captions.json": "32cba07d3d2b3cc9a7fceddcbd474874e0b5097c6d36ad4b7e83ea809c395e90", + "depth/depth.zip": "0092e551ed477ddf782e16e1e89136db1e43be691024bb9a9093da69f4ef7be7", + "labels/objects.json": "b6ca4142f6f67c57d44b2eb75a94ff5adca95a93183ecc147e70a31b7a051f8c", + "labels/visibility_states.json": "b1093ee209a27d4d25734bce9be737e442e4f18961f9c3730453f211e13a16cd", + "source/cameras.json": "64b91fe09383ac46a745bb920d00c0f51205f3b3d29cc9baade01e21910d9db5", + "source/caption.txt": "ec1cf9fdd4ea02c725cfe6673c1e7c730302e2fe0bb10a4928285d51895d4a37", + "source/meta.json": "bd8524b4932372ba5d44ab6d302cbee7c67bdbdecfeef84542419e9ce535c7bb", + "source/points_target.npz": "12edd1858cf2aec75d1afc7092b7c6b49a58e19c61d7a6d6940ecb94ee6c7fa4", + "source/visibility.json": "2fb427dfc70caa2a5344bd0a9b77c6f6f2fb3f2146ec8d83ec56b30158189401", + "tracks3d.npz": "234fe1be625d0a36cb7a41126cbc16b5b2253ac9e8fd6847eeffbc7b1299622e", + "videos/view0.mp4": "aac5f4736d04da1c6e43757a9b31c9e5c1eae986d4088efac470f644a8f84bac", + "videos/view1.mp4": "e626e78450af9fb100a239c6f398a856fa86058d0d46cdc71d0af2866132b928", + "videos/view2.mp4": "3c0dd3709f63b8230b78bbcff4d98502974e8fc9d74da99e532893b6d4ea1e95" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_002990/source/cameras.json b/Simul-Robot/c001_episode_002990/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..913880a7d92e849e8cf72cc3523da9886e767136 --- /dev/null +++ b/Simul-Robot/c001_episode_002990/source/cameras.json @@ -0,0 +1,16493 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_002990", + "map": "c001", + "frame_count": 151, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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index 0000000000000000000000000000000000000000..ecb9dbcd3bde009f72d2ed025bc50a7ef33c33b2 --- /dev/null +++ b/Simul-Robot/c001_episode_002990/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its left hand to pick up a red-and-white "Dairy Fresh Milk" carton and lifts it above the white, red-rimmed plate before setting it down there, surrounded by a purple jar, an orange, a small figurine, and canned drinks on a wooden table in bright daylight near a storefront. diff --git a/Simul-Robot/c001_episode_002990/source/meta.json b/Simul-Robot/c001_episode_002990/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d89704b50be9b7724e99ccf1d553790af0eea5 --- /dev/null +++ b/Simul-Robot/c001_episode_002990/source/meta.json @@ -0,0 +1,506 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_002990", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_002990", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_002990", + "robot_yaw_deg": -88.0366, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 151, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [5, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 7f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 151, + "per_cam_blind_max_frames": [ + 5, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 62, + 66 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 9.092, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 7, + "occluded_frames_per_cam": [ + 7, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "red_milk_carton" + }, + "relay": { + "enabled": true, + "schema": "pnp2.relay/1", + "attempt": 1, + "low_cam": "cam00", + "phases": { + "0": [ + "cam00" + ], + "1": [ + "cam01", + "cam02" + ] + }, + "low_blind_run": [ + 80, + 150 + ], + "low_blind_frames": 71, + "overlap_policy": "adaptive", + "stagger_frames": 51, + "out_frames": 34, + "lead_frames": 7, + "windows": { + "cam01": { + "open_start": 7, + "blind_start": 25, + "blind_end": 58 + }, + "cam02": { + "open_start": 57, + "blind_start": 76, + "blind_end": 109 + } + }, + "budget": { + "cam01": { + "half_deg": 50.25, + "dist_min_cm": 39.24, + "dist_med_cm": 45.21, + "offset_floor_frac": 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a/Simul-Robot/c001_episode_003160/captions.json b/Simul-Robot/c001_episode_003160/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..34cab89a65debda3277fc463a37ad89237859c26 --- /dev/null +++ b/Simul-Robot/c001_episode_003160/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The robot's right hand picks up a small blue-and-yellow microwave popcorn box from the granite countertop and lowers it onto a white task board printed with circuit-like diagrams, then releases it there, amid nearby figurines, a candle, soda cans, a shell, and an onion under bright daylight.", + "structured": { + "targets": [ + "microwave_popcorn_box" + ], + "placers": [ + "white_task_board" + ], + "primary_object": "microwave_popcorn_box", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The robot's right hand picks up a small blue-and-yellow microwave popcorn box from the granite countertop and lowers it onto a white task board printed with circuit-like diagrams, then releases it there, amid nearby figurines, a candle, soda cans, a shell, and an onion under bright daylight. The camera is static.", + "view1": "The robot's right hand picks up a small blue-and-yellow microwave popcorn box from the granite countertop and lowers it onto a white task board printed with circuit-like diagrams, then releases it there, amid nearby figurines, a candle, soda cans, a shell, and an onion under bright daylight. The camera is static.", + "view2": "The robot's right hand picks up a small blue-and-yellow microwave popcorn box from the granite countertop and lowers it onto a white task board printed with circuit-like diagrams, then releases it there, amid nearby figurines, a candle, soda cans, a shell, and an onion under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003160/labels/objects.json b/Simul-Robot/c001_episode_003160/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..e17cab623d6d43cab6f95ec41a61d850bcdf38c8 --- /dev/null +++ b/Simul-Robot/c001_episode_003160/labels/objects.json @@ -0,0 +1,2286 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_003160", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "microwave_popcorn_box" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003160/sample.json b/Simul-Robot/c001_episode_003160/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..24c9ad8bb63c86f02a9483ab8adf765100100c55 --- /dev/null +++ b/Simul-Robot/c001_episode_003160/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_003160", + "subset": "Simul-Robot", + "id": "c001_episode_003160", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_003160", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003160", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 22:17:15" + }, + "n_views": 3, + "n_frames": 172, + "fps": 20.0, + "duration_s": 8.6, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 64744.0744, + -1018.358, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 87.8662 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 64744.0744, + -1018.358, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The robot's right hand picks up a small blue-and-yellow microwave popcorn box from the granite countertop and lowers it onto a white task board printed with circuit-like diagrams, then releases it there, amid nearby figurines, a candle, soda cans, a shell, and an onion under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "microwave_popcorn_box", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 11, + "hands_used": [ + "right" + ], + "primary_object": "microwave_popcorn_box", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 860, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "lowers it onto", + "primary_end_speed_mean_m_per_frame": 0.0, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0092, + "primary_end_hand_dist_m": 0.311, + "primary_end_support_dist_m": 0.0048, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "microwave_popcorn_box": 0.31662 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "848b61dd273607bb857e29dc462551c19622eb24803ef16c24ed7bbb4baabde0", + "captions.json": "e666ffb80ae7ca3176c6ed5218448ca962bb351cd6c1dfc697d404591e169d0f", + "depth/depth.zip": "52cdf6d301bdc3739a4ad17787d264cfdfda51090b5af54c70e2cdc00d036ab0", + "labels/objects.json": "3050c7a82eab965fb80752402cd92b6a594e5f1e4490df8017c6c4d4b03c15da", + "labels/visibility_states.json": "fbc583f1b0f4730c4dbb20f0f044693fa21d94acbbd2ede77c7701c6f7f11d68", + "source/cameras.json": "414950cab1b49bca3d0de60f4bf1c8292aabcff65bf42b4738d5848971cedfd9", + "source/caption.txt": "fdab1eadde186cf6de2a65095d9e10f456de6c1e0e14c5890b1604d92966e113", + "source/meta.json": "969855a473e135ebea4b970df513ce08c5a8adbe020829166d4a0d9936971ee2", + "source/points_target.npz": "292dac117c1ed6794953dda51d049ffb91d3bb8972295730056208f5be0bd5a6", + "source/visibility.json": "9599cd18274cacd75a15932984d1a4ff74685a5372a41b8c4d0d7c08f052216d", + "tracks3d.npz": "9f18880ba033e5a43ccd11d917b91f9f11a92ce0b80189c34ecca1deed2d5d88", + "videos/view0.mp4": "ceb671132f8b5aa3eb8232c5b245b779021a0e731109163b21b8ca6d7f42a8a2", + "videos/view1.mp4": "07c4dbb842e2544b7b8fd603b9fc52ecd625e749f8a3eea6a6dd1b314d088249", + "videos/view2.mp4": "b5ba9b078afd2492a340bb755773f6c039e9659180d666313a08068a53ebabbc" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003160/source/cameras.json b/Simul-Robot/c001_episode_003160/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7ed1ee225ae695433a141c489ad7f0c92dfd3a --- /dev/null +++ b/Simul-Robot/c001_episode_003160/source/cameras.json @@ -0,0 +1,18761 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_003160", + "map": "c001", + "frame_count": 172, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..6b67e79e4e0f6b9184780fb4a1253fb1662809a2 --- /dev/null +++ b/Simul-Robot/c001_episode_003160/source/meta.json @@ -0,0 +1,366 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_003160", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_003160", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003160", + "robot_yaw_deg": -2.1338, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 172, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 172, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "microwave_popcorn_box" + }, + "relay": null + }, + "seed": 1142450318, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_granite_rough_carioca_gold_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0319, + "az_delta_deg": -1.474, + "elev_delta_deg": -1.214 + }, + "cam01": { + "dist_scale": 1.0464, + "az_delta_deg": -0.601, + "elev_delta_deg": 1.92 + }, + "cam02": { + "dist_scale": 0.9685, + "az_delta_deg": -3.672, + "elev_delta_deg": 0.359 + } + }, + "arm_contact_quota": 2 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + 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0.006406093551293064, + -0.007491141385282047, + 116.96947127459302 + ], + [ + 0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003230/captions.json b/Simul-Robot/c001_episode_003230/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3d0079a672b279416e146047a9e51bac7a60df --- /dev/null +++ b/Simul-Robot/c001_episode_003230/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot's left hand picks up a small blue and yellow microwave popcorn box from the marble counter and carries it onto the nearby red-rimmed white plate, while a squirrel figurine, water bottle, soda can, and a green toy rocket sit on the counter under bright daylight beside city buildings.", + "structured": { + "targets": [ + "microwave_popcorn_box" + ], + "placers": [ + "red_rimmed_plate" + ], + "primary_object": "microwave_popcorn_box", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot's left hand picks up a small blue and yellow microwave popcorn box from the marble counter and carries it onto the nearby red-rimmed white plate, while a squirrel figurine, water bottle, soda can, and a green toy rocket sit on the counter under bright daylight beside city buildings. The camera is static.", + "view1": "The humanoid robot's left hand picks up a small blue and yellow microwave popcorn box from the marble counter and carries it onto the nearby red-rimmed white plate, while a squirrel figurine, water bottle, soda can, and a green toy rocket sit on the counter under bright daylight beside city buildings. The camera is static.", + "view2": "The humanoid robot's left hand picks up a small blue and yellow microwave popcorn box from the marble counter and carries it onto the nearby red-rimmed white plate, while a squirrel figurine, water bottle, soda can, and a green toy rocket sit on the counter under bright daylight beside city buildings. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003230/labels/objects.json b/Simul-Robot/c001_episode_003230/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..7bbbe579142903b4fb6f4cbe959235b89a9d71a8 --- /dev/null +++ b/Simul-Robot/c001_episode_003230/labels/objects.json @@ -0,0 +1,2893 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_003230", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "microwave_popcorn_box", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/microwave_popcorn_box/StaticMeshes/popcorn_box.popcorn_box", + "bounds_cm": [ + -1.9126, + -6.3246, + -4.2488, + 1.9126, + 6.3246, + 4.2488 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 351.5457, + "n_verts": 9926, + "n_tris": 17982, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 48.177, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, 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contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003230/sample.json b/Simul-Robot/c001_episode_003230/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..ed068fdeb8ace8e29fb1a5dd0c8cc4fbe42a3c69 --- /dev/null +++ b/Simul-Robot/c001_episode_003230/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_003230", + "subset": "Simul-Robot", + "id": "c001_episode_003230", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_003230", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003230", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 22:41:54" + }, + "n_views": 3, + "n_frames": 233, + "fps": 20.0, + "duration_s": 11.65, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 70413.6701, + -56964.5245, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 91.2464 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 70413.6701, + -56964.5245, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot's left hand picks up a small blue and yellow microwave popcorn box from the marble counter and carries it onto the nearby red-rimmed white plate, while a squirrel figurine, water bottle, soda can, and a green toy rocket sit on the counter under bright daylight beside city buildings.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 2, + "hard_target": "microwave_popcorn_box", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 10, + "hands_used": [ + "left" + ], + "primary_object": "microwave_popcorn_box", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 808, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it onto", + "primary_end_speed_mean_m_per_frame": 0.0, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0055, + "primary_end_hand_dist_m": 0.2329, + "primary_end_support_dist_m": 0.0023, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "microwave_popcorn_box": 0.02634 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [ + "target_not_visible_in_view_at_ref_frame:view2" + ], + "files_sha256": { + "cameras.npz": "a2a8377596ba54f30d379118824909db30ca3660edb08670346f296173eeab61", + "captions.json": "e523d026dabd2a3939200edd8416cafd08382b5095edc25c84bd3f4cb50d33c0", + "depth/depth.zip": "37cf2faf31abf5cd199f18ca0f1866c56bbdfcc4d8f549bd5b6ad205dfd321ac", + "labels/objects.json": "1fa7de30cc044e15c87c7bd95e2ebbe23ba9cd7b211efb7b71f0b9cc389e47a8", + "labels/visibility_states.json": "e220401dace224f69961ea963dcd04262be95812cb402f2e24ba4099a8141aa6", + "source/cameras.json": "68c0a802520b322f5245c8ad722260094a31fdf22e36a2cc2d2954f94d02004e", + "source/caption.txt": "3b844091c804b752222b8e2759dca4a1f03dd96ae0f0b1de141628ea836d0fb7", + "source/meta.json": "2bbaf67746ba20463a435af46557b739916b6e53b5e8f074ee2660362703530c", + "source/points_target.npz": "f0c465ec07214e66d4288581e3e48210ccf08d75e625c8b39473d3e0462781da", + "source/visibility.json": "0ec5183fb23b9491fea10d8894c920311a745c83571968099946b2948dbbee9c", + "tracks3d.npz": "0a1ae42687b6c63c87f855f58034aa26717d604a183271aab5a8bfffebaf356b", + "videos/view0.mp4": "5570c3722469f06e2293292a4f50d4cbbf385531159daf1f3f8e0e789c055fa4", + "videos/view1.mp4": "686c3f6edb5d86249c8fb074cb1935687df7814624242c6b0e4ac8efa6dcab74", + "videos/view2.mp4": "ec935f2276bf11dda525ef51c9a4dc559c2a7f6fc87c7b7635a2a0866084fb73" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003230/source/cameras.json b/Simul-Robot/c001_episode_003230/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..4d39aefba464430a1ac7eddb47bf1cdd9c47f154 --- /dev/null +++ b/Simul-Robot/c001_episode_003230/source/cameras.json @@ -0,0 +1,25349 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_003230", + "map": "c001", + "frame_count": 233, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..83e709cb69e09403c096013209abe1f9f6352c85 --- /dev/null +++ b/Simul-Robot/c001_episode_003230/source/meta.json @@ -0,0 +1,366 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_003230", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_003230", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003230", + "robot_yaw_deg": 1.2465, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 233, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 2, + "hard_reasons": [ + "①캠 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the marble-patterned table and lowers it into a magenta plastic crate, amid nearby items like a sugar bag, canned peanuts, a salt shaker, and a green jar, under bright daylight.", + "structured": { + "targets": [ + "orange_juice_carton" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "orange_juice_carton", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a red-and-yellow \"Pure Orange Juice\" carton from the marble-patterned table and lowers it into a magenta plastic crate, amid nearby items like a sugar bag, canned peanuts, a salt shaker, and a green jar, under bright daylight. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a red-and-yellow \"Pure Orange Juice\" carton from the marble-patterned table and lowers it into a magenta plastic crate, amid nearby items like a sugar bag, canned peanuts, a salt shaker, and a green jar, under bright daylight. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a red-and-yellow \"Pure Orange Juice\" carton from the marble-patterned table and lowers it into a magenta plastic crate, amid nearby items like a sugar bag, canned peanuts, a salt shaker, and a green jar, under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003430/labels/objects.json b/Simul-Robot/c001_episode_003430/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..ff74e3f431feb93f423df4c960a45fae5ed33314 --- /dev/null +++ b/Simul-Robot/c001_episode_003430/labels/objects.json @@ -0,0 +1,2343 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_003430", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "magenta_plastic_crate", + "kind": "placer", + "unified_kind": "object_static", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/magenta_plastic_crate/StaticMeshes/FOF_Mesh_Magenta_Box.FOF_Mesh_Magenta_Box", + "bounds_cm": [ + -9.8921, + -16.0428, + -7.318, + 9.8921, + 16.0428, + 6.2131 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 4845.7732, + "n_verts": 1833, + "n_tris": 2880, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 0.017, + "pushed_cm": null, + "fell_off": false, + 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"cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "orange_juice_carton", + "hard_metrics": { + "num_cams": 3, + "frames": 178, + "per_cam_blind_max_frames": [ + 1, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 144, + 144 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "orange_juice_carton" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003430/sample.json b/Simul-Robot/c001_episode_003430/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca67c1432fc15b9d0a3befe8f78777d1a4006be --- /dev/null +++ b/Simul-Robot/c001_episode_003430/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_003430", + "subset": "Simul-Robot", + "id": "c001_episode_003430", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_003430", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003430", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-12 23:15:14" + }, + "n_views": 3, + "n_frames": 178, + "fps": 20.0, + "duration_s": 8.9, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 111981.4772, + -52601.7502, + 100.8649 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 62.3013 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 111981.4772, + -52601.7502, + 100.8649 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 247, + "visible_dropped_by_reason": { + "near_plane": 247, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a red-and-yellow \"Pure Orange Juice\" carton from the marble-patterned table and lowers it into a magenta plastic crate, amid nearby items like a sugar bag, canned peanuts, a salt shaker, and a green jar, under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "orange_juice_carton", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 6, + "hands_used": [ + "left" + ], + "primary_object": "orange_juice_carton", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 718, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "lowers it into", + "primary_end_speed_mean_m_per_frame": 7e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0119, + "primary_end_hand_dist_m": 0.2447, + "primary_end_support_dist_m": 0.0111, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "orange_juice_carton": 0.44993 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "52108206d45989e04ea1c4f9f3452c176a5713fef24248c5ec6fc2cfdc3dafc8", + "captions.json": "80ed04925024ec27880465fc73e88f64fa1bfee6dbc97cb3df41971896ff2fba", + "depth/depth.zip": "415e0a05118abcae54bc67144f99f6204cf8fa5beefdcaca5e746c43b093572d", + "labels/objects.json": "26fd5eb28f7cc257c1654354e5c9657befdf0657a3a2a43ff59cc66803095c81", + "labels/visibility_states.json": "02466583e2aba0f469d866785504d3850da13efa59c970292f52a25482ac79aa", + "source/cameras.json": "c9e7a26cd9a8a9986a4e22cc82bbe64d55fa991fdf22333bc860db83e67131e6", + "source/caption.txt": "a497748bd6931420d59a04d1c006b0b794295e2d95ae3bf81ef6be4bcb70ef53", + "source/meta.json": "69ba92acfdee864325b82d2b8c29a1bde24c86a12630034fe3a3cf97136eba81", + "source/points_target.npz": "ec8c3bb306f45bdde9c33d0ca69162d4af3bebbbde0f0a67a3057cccdf9fd517", + "source/visibility.json": "9f64b7942f1c13cbf6a6e53c1735ac01bb5d5aaf5fc661811c38f99974ae009e", + "tracks3d.npz": "7b0b5919b0beb497c6afde723236de7c94eac192ba36bad5cabae8730ecd7a85", + "videos/view0.mp4": "5ea47c94d628a68ec712dd3010a6181bd11b6aeb1ccb5895c171ebd9a57c9a9c", + "videos/view1.mp4": "d82cda52c6966499e960090dc55df07d0df20cca2133132574f7ddce597673a1", + "videos/view2.mp4": "a522c4aa6cf5b55f7782d646d633708cf9c82bc3308575349913419f11701f7e" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003430/source/cameras.json b/Simul-Robot/c001_episode_003430/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..0be6f06417fda2fd93ba57c94765e1de75469187 --- /dev/null +++ b/Simul-Robot/c001_episode_003430/source/cameras.json @@ -0,0 +1,19409 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_003430", + "map": "c001", + "frame_count": 178, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..687669176fb8cc3886996196360d40db837ffc5a --- /dev/null +++ b/Simul-Robot/c001_episode_003430/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its left hand to pick up a red-and-yellow "Pure Orange Juice" carton from the marble-patterned table and lowers it into a magenta plastic crate, amid nearby items like a sugar bag, canned peanuts, a salt shaker, and a green jar, under bright daylight. diff --git a/Simul-Robot/c001_episode_003430/source/meta.json b/Simul-Robot/c001_episode_003430/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce5391da6986350f10cc3ef969dcf6a415f97f87 --- /dev/null +++ b/Simul-Robot/c001_episode_003430/source/meta.json @@ -0,0 +1,364 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_003430", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_003430", + "source_sequence": 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[ + -0.00906668883489182, + -0.004218430225954674, + 0.0, + 793.1430834102664 + ], + [ + 0.003972631041980186, + -0.00853839167277326, + -0.003363639434691489, + -893.5080025160797 + ], + [ + -0.001418927826051567, + 0.0030497072107119154, + -0.009417320731152163, + 320.70587789208724 + ], + [ + 0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003770/captions.json b/Simul-Robot/c001_episode_003770/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..19bdd761d2e985101713745f9167de85ba1ea109 --- /dev/null +++ b/Simul-Robot/c001_episode_003770/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its right hand to pick up a red plastic ketchup bottle from a stone table, lifts it and sets it down inside a white bin, near a purple pepper grinder, an onion, a green sponge, and a recipe box, under bright daylight beside a street with a parked van.", + "structured": { + "targets": [ + "tomato_ketchup_bottle" + ], + "placers": [ + "yellow_stacking_bin" + ], + "primary_object": "tomato_ketchup_bottle", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its right hand to pick up a red plastic ketchup bottle from a stone table, lifts it and sets it down inside a white bin, near a purple pepper grinder, an onion, a green sponge, and a recipe box, under bright daylight beside a street with a parked van. The camera is static.", + "view1": "The humanoid robot uses its right hand to pick up a red plastic ketchup bottle from a stone table, lifts it and sets it down inside a white bin, near a purple pepper grinder, an onion, a green sponge, and a recipe box, under bright daylight beside a street with a parked van. The camera is static.", + "view2": "The humanoid robot uses its right hand to pick up a red plastic ketchup bottle from a stone table, lifts it and sets it down inside a white bin, near a purple pepper grinder, an onion, a green sponge, and a recipe box, under bright daylight beside a street with a parked van. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003770/labels/objects.json b/Simul-Robot/c001_episode_003770/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..75596795b2f701a24761c178069fdddbd589983e --- /dev/null +++ b/Simul-Robot/c001_episode_003770/labels/objects.json @@ -0,0 +1,2426 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_003770", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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frame and view: mean of the visible flags over that side's 256 robot points", + "hands_used": [ + "right" + ], + "hand_travel_cm": { + "left": 0.2676, + "right": 40.6697 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "tomato_ketchup_bottle", + "hard_metrics": { + "num_cams": 3, + "frames": 186, + "per_cam_blind_max_frames": [ + 0, + 1, + 0 + ], + "per_cam_blind_run": [ + null, + [ + 150, + 150 + ], + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 0, + 1, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "tomato_ketchup_bottle" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003770/sample.json b/Simul-Robot/c001_episode_003770/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..e2843424dde6e289d48a6967569bf8f62b45771b --- /dev/null +++ b/Simul-Robot/c001_episode_003770/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_003770", + "subset": "Simul-Robot", + "id": "c001_episode_003770", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_003770", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003770", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 00:06:49" + }, + "n_views": 3, + "n_frames": 186, + "fps": 20.0, + "duration_s": 9.3, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 98545.4022, + -46111.1291, + 115.2377 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -179.9164 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 98545.4022, + -46111.1291, + 115.2377 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its right hand to pick up a red plastic ketchup bottle from a stone table, lifts it and sets it down inside a white bin, near a purple pepper grinder, an onion, a green sponge, and a recipe box, under bright daylight beside a street with a parked van.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "tomato_ketchup_bottle", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 8, + "hands_used": [ + "right" + ], + "primary_object": "tomato_ketchup_bottle", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 867, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "sets it down", + "primary_end_speed_mean_m_per_frame": 0.00062, + "primary_end_net_disp_10_frames_m": 0.0008, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0006, + "primary_end_hand_dist_m": 0.2111, + "primary_end_support_dist_m": 0.0038, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "tomato_ketchup_bottle": 0.23022 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "6bcb39d98b14b030726bd6c16604af9eb9c689dc7bdd2d32ae94c2709d9c5f16", + "captions.json": "48029a50d986e85952dd8e7b87958f4176d7c017f0d45053fac8246c7db9ef7b", + "depth/depth.zip": "ccadad7702c7074a734d2a166709ee306af75bbe79388ffc2addee06d70fd9c0", + "labels/objects.json": "d24d37d226a93305ce8cc0549000630d3ccd2d1ee02d4e785ba365328ebfec9c", + "labels/visibility_states.json": "0a0308eb883ea403adf5858537d567accf7fd756da8e3781b992d946260ec330", + "source/cameras.json": "deb6e46518c039c232dfc7ff782eea3e3dc2805259a1ec3c1bfacdf5b5676b09", + "source/caption.txt": "6deb6e2a05c66ebea12527afed1d7db224e5b34a44de1495968aa639699c710b", + "source/meta.json": "d6507c5f2410203d7c605d30f1413c8aefa8dc1741ee5855861fada49be25a1b", + "source/points_target.npz": "5f71327543ce72205bda8b561db50599744bd8549823b7dffe93f86751551a38", + "source/visibility.json": "364d887e83aea79df79cbd6c5c417f3fe1264474014bb2b68e004064882d6f99", + "tracks3d.npz": "8ffcc591c3198eec60b17e13f589f7ba8e1e46d467abaa19ce5e2828d4b5b6ba", + "videos/view0.mp4": "8493a3ac0d6fc8c9a58432979af7f454e5b2092bd3d58e1ba539f79416016347", + "videos/view1.mp4": "9afc3edc773a6eeae576bada0540c79281950b461fa8eea61e86eb476391e86d", + "videos/view2.mp4": "db65340a6dc82f51e611ce4b3bb9b00a50e5082600f77907602ed7715a2a93cb" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_003770/source/cameras.json b/Simul-Robot/c001_episode_003770/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..6d088745d71d4b81da7f2cf106745934bccbf9bc --- /dev/null +++ b/Simul-Robot/c001_episode_003770/source/cameras.json @@ -0,0 +1,20273 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_003770", + "map": "c001", + "frame_count": 186, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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100644 index 0000000000000000000000000000000000000000..ee9eeea9c305f532b1b4b92d92e367146240b3a5 --- /dev/null +++ b/Simul-Robot/c001_episode_003770/source/meta.json @@ -0,0 +1,367 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_003770", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_003770", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_003770", + "robot_yaw_deg": 90.0837, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 186, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + 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a/Simul-Robot/c001_episode_004670/captions.json b/Simul-Robot/c001_episode_004670/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..5d42ea6b3d81c0adfdbea65ce49a98ecd4ec2763 --- /dev/null +++ b/Simul-Robot/c001_episode_004670/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its left hand to pick up a small dark reddish-brown rectangular foam brick from the table and places it onto a white plate with a red rim, amid nearby items like a potato, blue clog, cat figurine, and salt shaker under dappled sunlight.", + "structured": { + "targets": [ + "red_foam_brick" + ], + "placers": [ + "red_rimmed_plate" + ], + "primary_object": "red_foam_brick", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a small dark reddish-brown rectangular foam brick from the table and places it onto a white plate with a red rim, amid nearby items like a potato, blue clog, cat figurine, and salt shaker under dappled sunlight. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a small dark reddish-brown rectangular foam brick from the table and places it onto a white plate with a red rim, amid nearby items like a potato, blue clog, cat figurine, and salt shaker under dappled sunlight. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a small dark reddish-brown rectangular foam brick from the table and places it onto a white plate with a red rim, amid nearby items like a potato, blue clog, cat figurine, and salt shaker under dappled sunlight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004670/labels/objects.json b/Simul-Robot/c001_episode_004670/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ec612b8b65c163c1c0ce6602d96231521e56f4 --- /dev/null +++ b/Simul-Robot/c001_episode_004670/labels/objects.json @@ -0,0 +1,2093 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_004670", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "red_foam_brick", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/red_foam_brick/StaticMeshes/061_foam_brick.061_foam_brick", + "bounds_cm": [ + -3.8937, + -2.5597, + -2.628, + 3.8937, + 2.5596, + 2.628 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 212.5224, + "n_verts": 8510, + "n_tris": 16384, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 28.079, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"per_cam_blind_displacement_cm": [ + 10.865, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 22, + "occluded_frames_per_cam": [ + 22, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "red_foam_brick" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004670/sample.json b/Simul-Robot/c001_episode_004670/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..6df93aa0efcfc38806ee3482a919a116318a1f12 --- /dev/null +++ b/Simul-Robot/c001_episode_004670/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_004670", + "subset": "Simul-Robot", + "id": "c001_episode_004670", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_004670", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_004670", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 03:22:54" + }, + "n_views": 3, + "n_frames": 153, + "fps": 20.0, + "duration_s": 7.65, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 48624.7711, + 6412.3634, + 101.8858 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 171.5437 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 48624.7711, + 6412.3634, + 101.8858 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a small dark reddish-brown rectangular foam brick from the table and places it onto a white plate with a red rim, amid nearby items like a potato, blue clog, cat figurine, and salt shaker under dappled sunlight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "red_foam_brick", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 7, + "hands_used": [ + "left" + ], + "primary_object": "red_foam_brick", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 850, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 4e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0057, + "primary_end_hand_dist_m": 0.2038, + "primary_end_support_dist_m": 0.0021, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "red_foam_brick": 0.3266 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "ab27a01d2f8d082103071f948b281bf2905a5bd45e38db0888dc0b6a2ce9bc9d", + "captions.json": "bc341346801635321f42950ff259b50b35df079de849dbab292470f78e445433", + "depth/depth.zip": "6403b1e431e6ff6b55dcc3c3386cceef10662241cd1d2322ebfe0f300913b2df", + "labels/objects.json": "180f4f5b244c0b444b545ebd194372baabb5c3729a7851d2f4df1edb9188dd4d", + "labels/visibility_states.json": "ba717422569403965f24e1288b8d139fbae3bb604a89552a91b38ae31d62bc83", + "source/cameras.json": "11eff3e9c2cebdd50cec3382492192e20906a4894012e2f6f42d4c663844ca4e", + "source/caption.txt": "6baaea4773f049041fb18b007db7f9e3a8e74735681326219707bdb72389eff3", + "source/meta.json": "ba3f73986ffb4c12b044cc1473fcd061a8b6c921a871d22a3a923696516dc5e3", + "source/points_target.npz": "a8a1b8478edafe1b1ec45065793252076e18a8e409766723050942083bdec5b7", + "source/visibility.json": "b5cc30dfbeca79ed1f3a7b117e115385eab30b6230f87523beeeb3bc93bd6d6a", + "tracks3d.npz": "6e82386f0cd577aacb4bc023af9d28e6c90a9ca719b410af303cae22e6a20ac1", + "videos/view0.mp4": "7962c170faeae2e496b169afc2b735be20b2944f1c2309d2cbdbc04cb6184803", + "videos/view1.mp4": "6ccf44df842113813f256e3cc833f455dc9a84a28a4799ea02eab99f9e438a18", + "videos/view2.mp4": "5ab7cfc8219eca8a78f0759538431bf5e76d0afa70d74f73ac5331beed928320" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004670/source/cameras.json b/Simul-Robot/c001_episode_004670/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..e01ab8ad5c186fe51097d33ad1acf95d7d9dbfa8 --- /dev/null +++ b/Simul-Robot/c001_episode_004670/source/cameras.json @@ -0,0 +1,16709 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_004670", + "map": "c001", + "frame_count": 153, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/c001_episode_004670/source/meta.json @@ -0,0 +1,363 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_004670", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_004670", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_004670", + "robot_yaw_deg": 81.5437, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 153, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [20, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None] < 5.0cm (못 봤지만 잃은 것도 없다)" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 153, + "per_cam_blind_max_frames": [ + 20, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 72, + 91 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 10.865, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 22, + "occluded_frames_per_cam": [ + 22, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "red_foam_brick" + }, + "relay": null + }, + "seed": 1425570224, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Wood/MI_wood_maple_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 0.9457, + "az_delta_deg": -3.157, + "elev_delta_deg": -1.103 + 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"art_deco_bust", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot picks up a small copper-toned art deco bust with a stylized head resting on a rectangular base using its right hand, lifts and carries it across the marble table, and sets it onto the white printed task board, near a teal ball on the sunlit outdoor plaza table. The camera is static.", + "view1": "The humanoid robot picks up a small copper-toned art deco bust with a stylized head resting on a rectangular base using its right hand, lifts and carries it across the marble table, and sets it onto the white printed task board, near a teal ball on the sunlit outdoor plaza table. The camera is static.", + "view2": "The humanoid robot picks up a small copper-toned art deco bust with a stylized head resting on a rectangular base using its right hand, lifts and carries it across the marble table, and sets it onto the white printed task board, near a teal ball on the sunlit outdoor plaza table. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004790/labels/objects.json b/Simul-Robot/c001_episode_004790/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0196ca29e084efe74f6943e09cd3d27e10888c --- /dev/null +++ b/Simul-Robot/c001_episode_004790/labels/objects.json @@ -0,0 +1,2193 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_004790", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "art_deco_bust", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/art_deco_bust/StaticMeshes/art_deco_bust.art_deco_bust", + "bounds_cm": [ + -4.5527, + -3.2426, + -0.0052, + 4.0213, + 4.4039, + 12.4644 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 286.1449, + "n_verts": 1764, + "n_tris": 3128, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 45.024, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "art_deco_bust" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004790/sample.json b/Simul-Robot/c001_episode_004790/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab307a8179aad0b63c44879dea0118ad23c565a --- /dev/null +++ b/Simul-Robot/c001_episode_004790/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_004790", + "subset": "Simul-Robot", + "id": "c001_episode_004790", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_004790", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_004790", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 04:26:57" + }, + "n_views": 3, + "n_frames": 163, + "fps": 20.0, + "duration_s": 8.15, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 32785.5241, + 11634.5152, + 110.632 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -11.2979 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 32785.5241, + 11634.5152, + 110.632 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot picks up a small copper-toned art deco bust with a stylized head resting on a rectangular base using its right hand, lifts and carries it across the marble table, and sets it onto the white printed task board, near a teal ball on the sunlit outdoor plaza table.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "art_deco_bust", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 3, + "hands_used": [ + "right" + ], + "primary_object": "art_deco_bust", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 836, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "sets it onto", + "primary_end_speed_mean_m_per_frame": 5e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0092, + "primary_end_hand_dist_m": 0.3095, + "primary_end_support_dist_m": 0.0059, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "art_deco_bust": 0.49078 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "94786efb8d89b2f11528bcfb24a58cb18e3cb82e4dad17d51ea7897adfe0b54d", + "captions.json": "e8b6d12ecc330373300ee261f578c75847961e92dc46bf05db1a758ca2a6f8b7", + "depth/depth.zip": "a2aa0c429ac80270d7f66467671d0569b06449514696bf1c6bf9c61d48907bd0", + "labels/objects.json": "b84f02230c9c0413531540590120341d8bbcb85032a8eb311f14c3973e56c3cb", + "labels/visibility_states.json": "b15f4a297d853eb2e049c2b495fa371db3ad7b1ce2944b4011ad05256555a541", + "source/cameras.json": "d6e4eb8b806c7e908f22642bdc96d6e8c9f72379a67d9c580e69624dc85bf943", + "source/caption.txt": "606298af639b7885bddda0a41951db354d2b4d11a0d0b49bb0ee04603fa8228b", + "source/meta.json": "4e67ad3fef2699f4b406613d4a42bc199839a951ef16876c019c4b686127bfd0", + "source/points_target.npz": "7ea23ee75af19023c2a5b1427b1d0b231adea617fb395019166219e2a5c025de", + "source/visibility.json": "3c5de236146ec170a9e722ee6706b61f80dfaa756a52fb83fcacfb94eb1fc978", + "tracks3d.npz": "cfbe8f24ecc5e283d239422f2b69f10bb26cf666f0307074183eb887a0297276", + "videos/view0.mp4": "c9b78372685b9eee1992090a8e516344fa33a3299f8dbbaa13dcccdef41658ce", + "videos/view1.mp4": "adeb74b131f5829d8070cfcac8f79b19e120e18f748acfcd45ba4a07b96dc04a", + "videos/view2.mp4": "b5cff5fa23c54c1fb8e94b1d745678b773cf70611c9464056932f1a015248f2c" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004790/source/cameras.json b/Simul-Robot/c001_episode_004790/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2c9162acfbed5116ef454f79160912ade88cf4 --- /dev/null +++ b/Simul-Robot/c001_episode_004790/source/cameras.json @@ -0,0 +1,17789 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_004790", + "map": "c001", + "frame_count": 163, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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copper-toned art deco bust with a stylized head resting on a rectangular base using its right hand, lifts and carries it across the marble table, and sets it onto the white printed task board, near a teal ball on the sunlit outdoor plaza table. diff --git a/Simul-Robot/c001_episode_004790/source/meta.json b/Simul-Robot/c001_episode_004790/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f64fdc7295d5625d38ef517d3fa507f9228af58 --- /dev/null +++ b/Simul-Robot/c001_episode_004790/source/meta.json @@ -0,0 +1,363 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_004790", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_004790", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_004790", + "robot_yaw_deg": -101.2979, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 163, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + 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its right hand, lifts and carries it a short way, then sets it down upright on a white, red-rimmed plate, amid nearby items including a teal boot-shaped figurine, a purple mug, a wooden coin holder, a small figurine, a shell-like object, and a purple toy truck, under bright daylight.", + "structured": { + "targets": [ + "orange_juice_carton" + ], + "placers": [ + "red_rimmed_plate" + ], + "primary_object": "orange_juice_carton", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot picks up a small rectangular orange juice carton with an orange graphic and green label from the wooden table using its right hand, lifts and carries it a short way, then sets it down upright on a white, red-rimmed plate, amid nearby items including a teal boot-shaped figurine, a purple mug, a wooden coin holder, a small figurine, a shell-like object, and a purple toy truck, under bright daylight. The camera is static.", + "view1": "The humanoid robot picks up a small rectangular orange juice carton with an orange graphic and green label from the wooden table using its right hand, lifts and carries it a short way, then sets it down upright on a white, red-rimmed plate, amid nearby items including a teal boot-shaped figurine, a purple mug, a wooden coin holder, a small figurine, a shell-like object, and a purple toy truck, under bright daylight. The camera is static.", + "view2": "The humanoid robot picks up a small rectangular orange juice carton with an orange graphic and green label from the wooden table using its right hand, lifts and carries it a short way, then sets it down upright on a white, red-rimmed plate, amid nearby items including a teal boot-shaped figurine, a purple mug, a wooden coin holder, a small figurine, a shell-like object, and a purple toy truck, under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004820/labels/objects.json b/Simul-Robot/c001_episode_004820/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..b69027b944890f94010487120c5dd28bbe03baea --- /dev/null +++ b/Simul-Robot/c001_episode_004820/labels/objects.json @@ -0,0 +1,2296 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_004820", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "orange_juice_carton" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004820/sample.json b/Simul-Robot/c001_episode_004820/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..fd2519f31850549d9ef28e9411c0412c0a9f9ce2 --- /dev/null +++ b/Simul-Robot/c001_episode_004820/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_004820", + "subset": "Simul-Robot", + "id": "c001_episode_004820", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_004820", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_004820", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 04:40:39" + }, + "n_views": 3, + "n_frames": 173, + "fps": 20.0, + "duration_s": 8.65, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 76282.3526, + 19446.8207, + 104.997 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -103.1946 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 76282.3526, + 19446.8207, + 104.997 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot picks up a small rectangular orange juice carton with an orange graphic and green label from the wooden table using its right hand, lifts and carries it a short way, then sets it down upright on a white, red-rimmed plate, amid nearby items including a teal boot-shaped figurine, a purple mug, a wooden coin holder, a small figurine, a shell-like object, and a purple toy truck, under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "orange_juice_carton", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 6, + "hands_used": [ + "right" + ], + "primary_object": "orange_juice_carton", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 829, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "sets it down", + "primary_end_speed_mean_m_per_frame": 0.00015, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0043, + "primary_end_hand_dist_m": 0.2503, + "primary_end_support_dist_m": 0.0009, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "orange_juice_carton": 0.35267 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "bc7bbd0f93fd762a60212130e22c4511415b22f3bb716ff786a3603301ce1b30", + "captions.json": "0cf4c1f590af1135065f4e5fb412ecc4a512956df1eac785ef75afc663d0ce6d", + "depth/depth.zip": "e71ea4a7c9f5d548374a82ea757f1f10d2b0d35570da2edb80666c5d702a05aa", + "labels/objects.json": "2b3c99ba270663000940728c16bb75c701f62f85a7f31151fd1dd4c9c3c2a516", + "labels/visibility_states.json": "80968988ce5e25fedd13246602066814d73de8fe2fdc091be841bd0c505e41b8", + "source/cameras.json": "f8903f1d0c7f6091b3b0ed9940be6111ab1dfc0cfb2b711fd8a947231229a112", + "source/caption.txt": "e02efb4ab81d760c963eac2f5f7fb3d109d7b853e36f378b54c3f0002bde5622", + "source/meta.json": "b70899a0c5d715b610dc14be35fbe446e2fcda988461ffe3f83b2e59ebc3f92e", + "source/points_target.npz": "98814ec5491e1cd181f5e71c91633d8434aad8b4761c50f1def02e7dfa4018ac", + "source/visibility.json": "140509b39da1e8fda8f33582bb06d1b9c113964c36d1b865b3cf84df504f3f22", + "tracks3d.npz": "5fd832f3ea49bc4341533e505ec6c4610b6ebaf6b0e097ac7d794dffedc9b98e", + "videos/view0.mp4": "2624fd619af94b01e9275b0664a96052514e911f74b741d1138c108f1018a751", + "videos/view1.mp4": "7bd9e861979defc13e53170120411c4ecf80784e8ee6e276a93a86402f7331d6", + "videos/view2.mp4": "c861e50ccae64feecc3558aad9cd8cd8c829f96a6221cbaf7a9c7f6b99f6b77f" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_004820/source/cameras.json b/Simul-Robot/c001_episode_004820/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..d0eb5e2f011b5dd1e70bed1b439d0c8ada6b4030 --- /dev/null +++ b/Simul-Robot/c001_episode_004820/source/cameras.json @@ -0,0 +1,18869 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_004820", + "map": "c001", + "frame_count": 173, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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\ No newline at end of file diff --git a/Simul-Robot/c001_episode_004820/source/caption.txt b/Simul-Robot/c001_episode_004820/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..afb268d32230cbaf43c5ed2ebdabd63e4cce76c5 --- /dev/null +++ b/Simul-Robot/c001_episode_004820/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot picks up a small rectangular orange juice carton with an orange graphic and green label from the wooden table using its right hand, lifts and carries it a short way, then sets it down upright on a white, red-rimmed plate, amid nearby items including a teal boot-shaped figurine, a purple mug, a wooden coin holder, a small figurine, a shell-like object, and a purple toy truck, under bright daylight. diff --git a/Simul-Robot/c001_episode_004820/source/meta.json b/Simul-Robot/c001_episode_004820/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc7b751752ebba989ec8163c200f1e8ac91c4e1a --- /dev/null +++ b/Simul-Robot/c001_episode_004820/source/meta.json @@ -0,0 +1,364 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_004820", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_004820", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_004820", + "robot_yaw_deg": 166.8055, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 173, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 173, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "orange_juice_carton" + }, + "relay": null + }, + "seed": 347007765, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Wood/MI_wood_butcher_block_maple_aar", + 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-0.007428224117792968, + -42.481409912842224 + ], + [ + 0.0012347303974317267, + -0.007324885964287717, + -0.0066948850965374215, + 49.412009153602476 + ], + [ + 0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005540/captions.json b/Simul-Robot/c001_episode_005540/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..ab7b8a6f8cf133ab154a32b6b762321c3eb81372 --- /dev/null +++ b/Simul-Robot/c001_episode_005540/captions.json @@ -0,0 +1,24 @@ +{ + "caption": "The humanoid robot uses its left hand to pick up a small dark reddish-brown foam brick from the wooden table and, followed by a red foam brick, carries and places both into the open magenta plastic crate, near a lemon, a toy cat, and figurine under bright daylight.", + "structured": { + "targets": [ + "dark_foam_brick", + "red_foam_brick" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "dark_foam_brick", + "n_objects": 3, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a small dark reddish-brown foam brick from the wooden table and, followed by a red foam brick, carries and places both into the open magenta plastic crate, near a lemon, a toy cat, and figurine under bright daylight. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a small dark reddish-brown foam brick from the wooden table and, followed by a red foam brick, carries and places both into the open magenta plastic crate, near a lemon, a toy cat, and figurine under bright daylight. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a small dark reddish-brown foam brick from the wooden table and, followed by a red foam brick, carries and places both into the open magenta plastic crate, near a lemon, a toy cat, and figurine under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005540/labels/objects.json b/Simul-Robot/c001_episode_005540/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..0c165bf24ec308752832c73da579ca19ce523aa1 --- /dev/null +++ b/Simul-Robot/c001_episode_005540/labels/objects.json @@ -0,0 +1,8479 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_005540", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "dark_foam_brick", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/dark_foam_brick/StaticMeshes/brick.brick", + "bounds_cm": [ + -2.6315, + -3.8921, + -2.5566, + 2.6315, + 3.8921, + 2.5566 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 211.8901, + "n_verts": 8455, + "n_tris": 15728, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 44.054, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + "pivot_xyz": [ + [ + 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"per_cam_blind_displacement_cm": [ + 10.44, + 0.003, + 4.255 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 125, + "occluded_frames_per_cam": [ + 24, + 2, + 99 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 1, + "target": "dark_foam_brick" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": { + "at": "2026-09-17 14:02:03", + "was": null, + "rule": "hard_label2.label(primary=meta.objects.primary_object)", + "note": null + }, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [ + "hard.relabeled.note" + ] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005540/sample.json b/Simul-Robot/c001_episode_005540/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..943d253593fb143107ace34c51a1a096a07a3c6a --- /dev/null +++ b/Simul-Robot/c001_episode_005540/sample.json @@ -0,0 +1,231 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_005540", + "subset": "Simul-Robot", + "id": "c001_episode_005540", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_005540", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005540", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 11:27:45" + }, + "n_views": 3, + "n_frames": 525, + "fps": 20.0, + "duration_s": 26.25, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 78925.1641, + -22008.6214, + 99.994 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 45.6054 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 78925.1641, + -22008.6214, + 99.994 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 70, + "visible_dropped_by_reason": { + "near_plane": 70, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a small dark reddish-brown foam brick from the wooden table and, followed by a red foam brick, carries and places both into the open magenta plastic crate, near a lemon, a toy cat, and figurine under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 2, + "hard_target": "dark_foam_brick", + "difficulty_relabeled_260917": true, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 7, + "hands_used": [ + "left" + ], + "primary_object": "dark_foam_brick", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1090, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries and places both into", + "primary_end_speed_mean_m_per_frame": 0.00011, + "primary_end_net_disp_10_frames_m": 0.0005, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.009, + "primary_end_hand_dist_m": 0.2128, + "primary_end_support_dist_m": 0.0077, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "dark_foam_brick": 0.00017, + "red_foam_brick": 0.38754 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "b34afcf2d0811467f77a0e2bc7417769994e25381f6bb4a198969b6ea442b464", + "captions.json": "de09d6b3c9e7ac2ac8ba37b1189424fef93c0f278134c43d712c81d8b4b3bc6a", + "depth/depth.zip": "27631754721513cb2c6207a52a3f39e525e3bd0bb329987117a797d8c585b775", + "labels/objects.json": "53de572a2ecdba67e17d047d6773eddcebda66ba591f6cdb93cf9af65ec0f724", + "labels/visibility_states.json": "3dbc1a18a411a2c3a6fb56a87f36ac6af300ff811091e05cd8b25db137432368", + "source/cameras.json": "1f453da52bf45d70c076226531da9edda9ca5a0692d58f613dd5bbc6b42461e0", + "source/caption.txt": "4b9c49e0b4a3313e19cc4cc8d93b67a0e68452a8b4d38e5d8a3c73b848114885", + "source/meta.json": "d8954c5529bf96fbb24497e5eb93dbec8e80818f115456a5f4e1f36bb434b2ae", + "source/points_target.npz": "2591ee85dd745c5003391f934747f98e83b4946a38b799859a0ae931afdb959a", + "source/visibility.json": "3e86e435cbe0a17e4c7ec02be5c939579234d2aa0e67401b999006722274e2f9", + "tracks3d.npz": "32e1cf29b7f814145fd80ea8c74525c379f6f684d22f32e762f07be926cabff7", + "videos/view0.mp4": "0a697cdd4960472104686c2c9883b69cf81208506b85dd8391b94812256f4cf1", + "videos/view1.mp4": "43d98bfd00caa7c1786dbb17d3331fb7059fa231c4e5dd16fe6a701ed88495a1", + "videos/view2.mp4": "a3b4591d1957073ce3baee67c6bfe6f0df39816abd9b206c200db0e541fc860d" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005540/source/cameras.json b/Simul-Robot/c001_episode_005540/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..29582d048fbe223691a6b0d505197605f190f359 --- /dev/null +++ b/Simul-Robot/c001_episode_005540/source/cameras.json @@ -0,0 +1,56885 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_005540", + "map": "c001", + "frame_count": 525, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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-336.63252503861776 + ], + [ + -0.001754986235570007, + 0.006004774915941564, + -0.007801455090035372, + 271.81836743112325 + ], + [ + 0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005610/captions.json b/Simul-Robot/c001_episode_005610/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..b3028f1f23c13372791669386be04683125285ec --- /dev/null +++ b/Simul-Robot/c001_episode_005610/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "The humanoid robot reaches with both hands to pick up small dark and red rectangular foam bricks from the wooden tabletop and places them, one after another, inside an open square green-lined box, alongside a marble-like egg, a green stone, and a garlic-shaped object under bright daylight near pink storefronts.", + "structured": { + "targets": [ + "dark_foam_brick", + "red_foam_brick" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "dark_foam_brick", + "n_objects": 3, + "hands_used": [ + "left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot reaches with both hands to pick up small dark and red rectangular foam bricks from the wooden tabletop and places them, one after another, inside an open square green-lined box, alongside a marble-like egg, a green stone, and a garlic-shaped object under bright daylight near pink storefronts. The camera is static.", + "view1": "The humanoid robot reaches with both hands to pick up small dark and red rectangular foam bricks from the wooden tabletop and places them, one after another, inside an open square green-lined box, alongside a marble-like egg, a green stone, and a garlic-shaped object under bright daylight near pink storefronts. The camera is static.", + "view2": "The humanoid robot reaches with both hands to pick up small dark and red rectangular foam bricks from the wooden tabletop and places them, one after another, inside an open square green-lined box, alongside a marble-like egg, a green stone, and a garlic-shaped object under bright daylight near pink storefronts. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005610/labels/objects.json b/Simul-Robot/c001_episode_005610/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..230b5eabd76a9af68528d94394d0489d59c27b39 --- /dev/null +++ b/Simul-Robot/c001_episode_005610/labels/objects.json @@ -0,0 +1,7189 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_005610", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"left", + "right" + ], + "hand_travel_cm": { + "left": 37.8358, + "right": 49.2926 + }, + "points_per_side": { + "left": 256, + "right": 256 + }, + "hand_points_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "side_convention": "the robot's own left/right", + "propagation": "per-link rigid (link world transform per frame)" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005610/labels/visibility_states.json b/Simul-Robot/c001_episode_005610/labels/visibility_states.json new file mode 100644 index 0000000000000000000000000000000000000000..55c8c55aef2ac34e4d1b8bd981e0fd5f16d6a232 --- /dev/null +++ b/Simul-Robot/c001_episode_005610/labels/visibility_states.json @@ -0,0 +1,17686 @@ +{ + "schema": "vpm-worldbench/simul-robot/visibility_states/1.0", + "id": "c001_episode_005610", + "n_frames": 439, + "views": [ + "view0", + "view1", + "view2" + ], + "source_views": [ + "cam00", + "cam01", + "cam02" + ], + 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Computed by the vendor from the source point flags, i.e. WITHOUT the renderer near plane (z > 0.10 m) that tracks3d.npz visible/in_frustum apply: an object whose in-image points all lie closer than 0.10 m is not rendered but can be 'visible' here. 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"frames": 439, + "per_cam_blind_max_frames": [ + 5, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 399, + 403 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 0.075, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 7, + "occluded_frames_per_cam": [ + 7, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "dark_foam_brick" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005610/sample.json b/Simul-Robot/c001_episode_005610/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..d14d099637b197533942cabef19e2b83b715bb6e --- /dev/null +++ b/Simul-Robot/c001_episode_005610/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_005610", + "subset": "Simul-Robot", + "id": "c001_episode_005610", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_005610", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005610", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 12:52:25" + }, + "n_views": 3, + "n_frames": 439, + "fps": 20.0, + "duration_s": 21.95, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 66351.7242, + 3684.4936, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 34.5929 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 66351.7242, + 3684.4936, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot reaches with both hands to pick up small dark and red rectangular foam bricks from the wooden tabletop and places them, one after another, inside an open square green-lined box, alongside a marble-like egg, a green stone, and a garlic-shaped object under bright daylight near pink storefronts.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "dark_foam_brick", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 9, + "hands_used": [ + "left", + "right" + ], + "primary_object": "dark_foam_brick", + "distractor_max_pushed_cm": 0.552, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1023, + "flag_details": { + "caption_both_hands_phrase": "both hands", + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 0.00052, + "primary_end_net_disp_10_frames_m": 0.0014, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0004, + "primary_end_hand_dist_m": 0.3326, + "primary_end_support_dist_m": 0.0021, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "dark_foam_brick": 0.2749, + "red_foam_brick": 0.00014 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "2a57aae8113fbbc11442afe5b85678f6baad337a9cf415ecefaa63165b4af5e1", + "captions.json": "c7485650a6348b1a39cd9fa1ebf936917beed9ae26685bb350191adab22bae44", + "depth/depth.zip": "3b3029f9c7be3e742cef2b8322a3d02f5b6f38c019225933b1fafb244e50ac99", + "labels/objects.json": "3b3f21fceaaeaa731c57781a240714c043489d0459b6499ba926b8c71b19f3b7", + "labels/visibility_states.json": "e630dee5e513979ca4961e73babd7659f459ab818f6c7c568d72ae3da8c116c4", + "source/cameras.json": "1d85f07f661897ca12d6e78f1b199256f40ff058aa2612fd12fa2797756f56aa", + "source/caption.txt": "62c422e8c404d6d404cf99bdc1df14318fa3746f7e2f52fa83a2d684d317c7e0", + "source/meta.json": "38d564802696a683eefc0d614e783df108a4449b5bfa97c50560361177b96163", + "source/points_target.npz": "d83ff092fc854e2666c412efcbb60135a696afae161b311f9345dfa6269af651", + "source/visibility.json": "d46351400da371f9dbd01b53868d3b8247b480942b9cb5243c0ae893800a5bae", + "tracks3d.npz": "6423940c8836080b9cd087604b2e11c92957f4b9ee7ba11ed5f7caf4144db019", + "videos/view0.mp4": "b6d62ab40562086cd5c4c80d2323459311577134a5fe1480d6dea639d5b646a5", + "videos/view1.mp4": "2afcdafca8a89091ef6a4685c85a12a22ec2aab200a7d2252cd0f82028d850b4", + "videos/view2.mp4": "186c6ce190519f872fc7d5c8534de21dc083dd1b0ee320ec10aaca15b62a35b8" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005610/source/cameras.json b/Simul-Robot/c001_episode_005610/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..1b041ddfdad2953d0e34c50339fd7ff4d43e95b7 --- /dev/null +++ b/Simul-Robot/c001_episode_005610/source/cameras.json @@ -0,0 +1,47597 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_005610", + "map": "c001", + "frame_count": 439, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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+ -84.37992262752097 + ], + [ + -0.003405616437111768, + 0.00849928620735384, + -0.004020436624144063, + 195.47619821773802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005610/source/caption.txt b/Simul-Robot/c001_episode_005610/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f3177201ae065284cbd43461cf9de55acc5f5329 --- /dev/null +++ b/Simul-Robot/c001_episode_005610/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot reaches with both hands to pick up small dark and red rectangular foam bricks from the wooden tabletop and places them, one after another, inside an open square green-lined box, alongside a marble-like egg, a green stone, and a garlic-shaped object under bright daylight near pink storefronts. diff --git a/Simul-Robot/c001_episode_005610/source/meta.json b/Simul-Robot/c001_episode_005610/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a040891e9eec67c87cd23d6f43503e999e13a26 --- /dev/null +++ b/Simul-Robot/c001_episode_005610/source/meta.json @@ -0,0 +1,371 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_005610", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_005610", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005610", + "robot_yaw_deg": -55.407, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 439, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [5, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.07, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 7f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 439, + "per_cam_blind_max_frames": [ + 5, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 399, + 403 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 0.075, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 7, + "occluded_frames_per_cam": [ + 7, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "dark_foam_brick" + }, + "relay": null + }, + "seed": 900649500, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": 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판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005650/captions.json b/Simul-Robot/c001_episode_005650/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..32d86e096c9e4d05627c4a30986559d83a1b3c77 --- /dev/null +++ b/Simul-Robot/c001_episode_005650/captions.json @@ -0,0 +1,24 @@ +{ + "caption": "The humanoid robot uses its left hand to pick up a green peas can and a yellow dog food can from the marble tabletop and places both inside a green-lined square box, amid a lime, bottle, and other cans on the sunny waterfront table.", + "structured": { + "targets": [ + "peas_food_can", + "yellow_dog_can" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "yellow_dog_can", + "n_objects": 3, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a green peas can and a yellow dog food can from the marble tabletop and places both inside a green-lined square box, amid a lime, bottle, and other cans on the sunny waterfront table. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a green peas can and a yellow dog food can from the marble tabletop and places both inside a green-lined square box, amid a lime, bottle, and other cans on the sunny waterfront table. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a green peas can and a yellow dog food can from the marble tabletop and places both inside a green-lined square box, amid a lime, bottle, and other cans on the sunny waterfront table. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005650/labels/objects.json b/Simul-Robot/c001_episode_005650/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..b71c72561721f9e8fa6d7f889dc455ceffee8ed2 --- /dev/null +++ b/Simul-Robot/c001_episode_005650/labels/objects.json @@ -0,0 +1,6320 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_005650", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "peas_food_can", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/peas_food_can/StaticMeshes/peas_food_can.peas_food_can", + "bounds_cm": [ + -3.5969, + -3.5969, + -0.0, + 3.5969, + 3.5969, + 10.914 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 341.1128, + "n_verts": 1476, + "n_tris": 2312, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 18.235, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + "pivot_xyz": 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], + "per_cam_blind_run": [ + [ + 161, + 162 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 0.002, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 2, + "occluded_frames_per_cam": [ + 2, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "yellow_dog_can" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005650/sample.json b/Simul-Robot/c001_episode_005650/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..5f70b5a506f64be0ed06db16a7e917ac9b11577b --- /dev/null +++ b/Simul-Robot/c001_episode_005650/sample.json @@ -0,0 +1,231 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_005650", + "subset": "Simul-Robot", + "id": "c001_episode_005650", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_005650", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005650", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 13:18:45" + }, + "n_views": 3, + "n_frames": 381, + "fps": 20.0, + "duration_s": 19.05, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + -3859.6084, + -67514.0563, + 93.7986 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -12.2068 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + -3859.6084, + -67514.0563, + 93.7986 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a green peas can and a yellow dog food can from the marble tabletop and places both inside a green-lined square box, amid a lime, bottle, and other cans on the sunny waterfront table.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "yellow_dog_can", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 9, + "hands_used": [ + "left" + ], + "primary_object": "yellow_dog_can", + "distractor_max_pushed_cm": 1.279, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1043, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 3e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.003, + "primary_end_hand_dist_m": 0.1883, + "primary_end_support_dist_m": 0.0039, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "peas_food_can": 0.0001, + "yellow_dog_can": 0.28474 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "edecc7a366b3414617d4c68c786e45beab821bb67d79f2363952046cf1b850e3", + "captions.json": "38b656c43a50b8d8186548e790e4008f7cd59a0f2076ecbf2d9331d86b84640c", + "depth/depth.zip": "95217692cd2b07543d0af0f34be837f1fb8c9b3dd64d13931e7aa58d392a018a", + "labels/objects.json": "c8522b9f05cbbbdd200352282720b69ce33fc26819334cd131073b279135def2", + "labels/visibility_states.json": "5a3fea0698a5ee251982f860d6f9602f1215b78cc0ef9d100bcc67db9bdae766", + "source/cameras.json": "a74b078d8817f3b27085ee95e61f29afdd028a8b525dc599eddb46d7188a710f", + "source/caption.txt": "a60fefa4916545c7392a6030635146d515d2b405810613a1a3ab0c2b61698eaa", + "source/meta.json": "a8bd9dd385a15aecd73e17b7c4af13bef9bc0b24cb2ea571a0b8cd0c89f2fc03", + "source/points_target.npz": "8c1da745618441c3f285ad34f0d0ec27c013e1f5647f1745ffab03fcbdff6d08", + "source/visibility.json": "283527010cc5669797240f86dcb3edcdd9c5398890a1678f70dd88751934e281", + "tracks3d.npz": "831e5d9b86c54cf7b3f6a5d45f59f23e172a21f7b442a2dce8757cd72bacb11f", + "videos/view0.mp4": "4448c8069fd49cf10e6157ce19972d1b93dbd95834763aa53087f9a389b6257a", + "videos/view1.mp4": "f988ad751e8aa528f00e4490fa51de612a8b1b8dea63a63b40ef07d422619d8b", + "videos/view2.mp4": "de8a9699695b374a0018ca315b6e8b8f4dc2587ba3112a51c535665197c3ab07" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005650/source/cameras.json b/Simul-Robot/c001_episode_005650/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..f8e9182603b28b7380217c5cd311f0dacb6f2539 --- /dev/null +++ b/Simul-Robot/c001_episode_005650/source/cameras.json @@ -0,0 +1,41333 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_005650", + "map": "c001", + "frame_count": 381, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/c001_episode_005650/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5803eef7037f340dc435294e13d2ac3af961d87 --- /dev/null +++ b/Simul-Robot/c001_episode_005650/source/meta.json @@ -0,0 +1,372 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_005650", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_005650", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005650", + "robot_yaw_deg": -102.2067, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 381, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", 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left hand and carries each into the pink plastic tote, while a toy car, green mug, canned tomatoes, pepper mill, and small figurine sit nearby on the sunlit outdoor plaza table.", + "structured": { + "targets": [ + "dark_foam_brick", + "red_foam_brick" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "red_foam_brick", + "n_objects": 3, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot picks up a small dark brown foam brick and a red-toned foam brick from the marble tabletop with its left hand and carries each into the pink plastic tote, while a toy car, green mug, canned tomatoes, pepper mill, and small figurine sit nearby on the sunlit outdoor plaza table. The camera is static.", + "view1": "The humanoid robot picks up a small dark brown foam brick and a red-toned foam brick from the marble tabletop with its left hand and carries each into the pink plastic tote, while a toy car, green mug, canned tomatoes, pepper mill, and small figurine sit nearby on the sunlit outdoor plaza table. The camera is static.", + "view2": "The humanoid robot picks up a small dark brown foam brick and a red-toned foam brick from the marble tabletop with its left hand and carries each into the pink plastic tote, while a toy car, green mug, canned tomatoes, pepper mill, and small figurine sit nearby on the sunlit outdoor plaza table. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005670/labels/objects.json b/Simul-Robot/c001_episode_005670/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..5d066d838643aaf3018b138286a4cfd8ee9a9a2b --- /dev/null +++ b/Simul-Robot/c001_episode_005670/labels/objects.json @@ -0,0 +1,8089 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_005670", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "dark_foam_brick", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/dark_foam_brick/StaticMeshes/brick.brick", + "bounds_cm": [ + -2.6315, + -3.8921, + -2.5566, + 2.6315, + 3.8921, + 2.5566 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 211.8901, + "n_verts": 8455, + "n_tris": 15728, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 38.579, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + "pivot_xyz": [ + [ + 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0.0, + 0.0 + ] + ] + }, + "robot_arms_rule": "per frame and view: mean of the visible flags over that side's 256 robot points", + "hands_used": [ + "left" + ], + "hand_travel_cm": { + "left": 46.638, + "right": 0.6564 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 0, + "hard_target": "red_foam_brick", + "hard_metrics": { + "num_cams": 3, + "frames": 499, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "red_foam_brick" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005670/sample.json b/Simul-Robot/c001_episode_005670/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..85f3445fa0f76c66ec2d596453d73b447c1d8c70 --- /dev/null +++ b/Simul-Robot/c001_episode_005670/sample.json @@ -0,0 +1,231 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_005670", + "subset": "Simul-Robot", + "id": "c001_episode_005670", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_005670", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005670", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 13:28:34" + }, + "n_views": 3, + "n_frames": 499, + "fps": 20.0, + "duration_s": 24.95, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 108296.1298, + -77638.0464, + 93.7986 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 126.9969 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 108296.1298, + -77638.0464, + 93.7986 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 56, + "visible_dropped_by_reason": { + "near_plane": 56, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot picks up a small dark brown foam brick and a red-toned foam brick from the marble tabletop with its left hand and carries each into the pink plastic tote, while a toy car, green mug, canned tomatoes, pepper mill, and small figurine sit nearby on the sunlit outdoor plaza table.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "red_foam_brick", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 8, + "hands_used": [ + "left" + ], + "primary_object": "red_foam_brick", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 895, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries each into", + "primary_end_speed_mean_m_per_frame": 4e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0043, + "primary_end_hand_dist_m": 0.4104, + "primary_end_support_dist_m": 0.0051, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "dark_foam_brick": 0.00023, + "red_foam_brick": 0.27812 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "7a54171e3d9775429cfe8fd965089afef1d0394e6f80ec679ed97ac701cb6647", + "captions.json": "0a0e1a43472b32c481e65a18e80af2462da0b98eec2956fa178c82fa5ab4b7e0", + "depth/depth.zip": "84b9bbf5014d6f52ebb4cb2dbfbef573288e2d6af49278e78609842e2aa9c2fc", + "labels/objects.json": "9a97fee1333c9f02f89fa5b92a89093d27433598b4b9f3a4b00083858de16da2", + "labels/visibility_states.json": "bfb841c5d33863cc3f3fbf85782f5f32c739a63e15dfb491c37dc4e4e18fdf02", + "source/cameras.json": "22e7587aaa657cea592ae22ad2fd116d322a1f3ade64a1c43520a4da8a9b0bae", + "source/caption.txt": "79df0be4dc6035ed26795430f64e75aba9fe783dceed209dba6303a93c7a6571", + "source/meta.json": "0e8ddf5381770c419ddbea9502ad48c8f8cbac782164a95acf03a7355a6af948", + "source/points_target.npz": "b6193cee19b8fd4a9aa285dc77f9f1001290e201fcd10775f5b0e1f48afbe20c", + "source/visibility.json": "ca32496f3c0001233b16821fac499fb7aee08278c77d669885bd6ae923562395", + "tracks3d.npz": "70f1e44e8d192e93d05f97b082450635fa248c0bf8be5b89678f66f503547541", + "videos/view0.mp4": "9a35a6f3473dc92eba222285179919598db1c5fd72400d435033f8015d2f9485", + "videos/view1.mp4": "f0d27be4322e1005c7569be9bc09d903196553556e31d671738abb71c41bf022", + "videos/view2.mp4": "86e653429108ba3dc62eb69ae79c6016eedd23a5501e3cb35ebb1da64c867941" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005670/source/cameras.json b/Simul-Robot/c001_episode_005670/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..0de8ebf617d38ff9b53478ac24f0da73f6b09e8e --- /dev/null +++ b/Simul-Robot/c001_episode_005670/source/cameras.json @@ -0,0 +1,54077 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_005670", + "map": "c001", + "frame_count": 499, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/c001_episode_005670/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot picks up a small dark brown foam brick and a red-toned foam brick from the marble tabletop with its left hand and carries each into the pink plastic tote, while a toy car, green mug, canned tomatoes, pepper mill, and small figurine sit nearby on the sunlit outdoor plaza table. diff --git a/Simul-Robot/c001_episode_005670/source/meta.json b/Simul-Robot/c001_episode_005670/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5a7e3644f5a370e1974beba1de99b316c0066b --- /dev/null +++ b/Simul-Robot/c001_episode_005670/source/meta.json @@ -0,0 +1,368 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_005670", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_005670", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005670", + "robot_yaw_deg": 36.9969, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 499, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 499, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + 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], + [ + 0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005920/captions.json b/Simul-Robot/c001_episode_005920/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..facae837e4049028e412a9d5efc20c8efacfd53b --- /dev/null +++ b/Simul-Robot/c001_episode_005920/captions.json @@ -0,0 +1,24 @@ +{ + "caption": "The humanoid robot uses its left hand to pick up an orange juice carton from beside a brown ceramic bear figurine and carries it across the wooden table before placing it inside a magenta plastic crate, near a small gray cat statue on a sunlit outdoor plaza table.", + "structured": { + "targets": [ + "brown_ceramic_bear", + "orange_juice_carton" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "orange_juice_carton", + "n_objects": 3, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up an orange juice carton from beside a brown ceramic bear figurine and carries it across the wooden table before placing it inside a magenta plastic crate, near a small gray cat statue on a sunlit outdoor plaza table. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up an orange juice carton from beside a brown ceramic bear figurine and carries it across the wooden table before placing it inside a magenta plastic crate, near a small gray cat statue on a sunlit outdoor plaza table. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up an orange juice carton from beside a brown ceramic bear figurine and carries it across the wooden table before placing it inside a magenta plastic crate, near a small gray cat statue on a sunlit outdoor plaza table. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005920/labels/objects.json b/Simul-Robot/c001_episode_005920/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..30b620a24c5f69295b423cc2c8934e1d35d3273f --- /dev/null +++ b/Simul-Robot/c001_episode_005920/labels/objects.json @@ -0,0 +1,6066 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_005920", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "brown_ceramic_bear", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/brown_ceramic_bear/StaticMeshes/brown_ceramic_bear.brown_ceramic_bear", + "bounds_cm": [ + -3.3378, + -3.0469, + 0.0332, + 2.7487, + 3.0358, + 11.2714 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 195.5726, + "n_verts": 869, + "n_tris": 1734, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 32.372, + "pushed_cm": null, + "fell_off": false, + "arm_contact": 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364, + "per_cam_blind_max_frames": [ + 1, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 172, + 172 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 2, + "occluded_frames_per_cam": [ + 2, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "orange_juice_carton" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005920/sample.json b/Simul-Robot/c001_episode_005920/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..d5fc1f21ebe260cef3c7c7e33f2e386569377adf --- /dev/null +++ b/Simul-Robot/c001_episode_005920/sample.json @@ -0,0 +1,231 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_005920", + "subset": "Simul-Robot", + "id": "c001_episode_005920", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_005920", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005920", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 17:14:05" + }, + "n_views": 3, + "n_frames": 364, + "fps": 20.0, + "duration_s": 18.2, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 39501.1958, + -66846.1517, + 93.7986 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 75.5339 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 39501.1958, + -66846.1517, + 93.7986 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up an orange juice carton from beside a brown ceramic bear figurine and carries it across the wooden table before placing it inside a magenta plastic crate, near a small gray cat statue on a sunlit outdoor plaza table.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "orange_juice_carton", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 7, + "hands_used": [ + "left" + ], + "primary_object": "orange_juice_carton", + "distractor_max_pushed_cm": 30.023, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1041, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "placing", + "primary_end_speed_mean_m_per_frame": 4e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0122, + "primary_end_hand_dist_m": 0.2694, + "primary_end_support_dist_m": 0.0032, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "brown_ceramic_bear": 7e-05, + "orange_juice_carton": 0.46037 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "e5d061369afe798a04a4132e26ae1b81a6f9147352d1043207bc4239f76486ea", + "captions.json": "f6d8a21449f96d30794ea2f1f6944724415d14d7bb0779bc82396f7196946978", + "depth/depth.zip": "561502c7920279d58186e2f484722d2ec007ebe657b0376c4119dfd8b3e4ad0e", + "labels/objects.json": "baf93f0a8e2cf249cb69eb66db173266ecffa9ff98584f4ee81e9272e3716827", + "labels/visibility_states.json": "f17fc8b261c76b41fae23e7cc7b49aa6eb6d02b1767d6164a317a23df2c0cf07", + "source/cameras.json": "b67aee7c1de102f0db2273aa1e7b60ef0680e323a69c4aaed7ab41d1f0b4211c", + "source/caption.txt": "38d75e9c3ef979e343aec8ca14d4648c79eeeeebd393af0d61ba1b170f5b265e", + "source/meta.json": "d59d331503b3b495c6cd25a0fc81404cb5988f027014a0333230a565ff02b9ba", + "source/points_target.npz": "8defc321764f38e8cc4fc3d8232c337372fe3ad4da096f3a3202350a1a9e3c83", + "source/visibility.json": "8fe1768ca17db21fae3782906b1935451366d659a76b36d7f1768ca5d2457e5a", + "tracks3d.npz": "9fa6599c24e5439654574bd0e57e61c05ac2fd0a06e4221616ac1a5028c5795f", + "videos/view0.mp4": "3521411d68b32f3c08112d703b7e0dade4751bd82319a8b4244481f902715b65", + "videos/view1.mp4": "bc0cbf66ceae6ae1d9fec5c2ab4da6a728d14eff943891eb1727f5c2defbee3d", + "videos/view2.mp4": "6a5a29b38742547ff920613b15b7502330d05599d2eb0655e4a01edd7f186558" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_005920/source/cameras.json b/Simul-Robot/c001_episode_005920/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..a992db0c0f3ac5dc45956784bcfabd81952f6be3 --- /dev/null +++ b/Simul-Robot/c001_episode_005920/source/cameras.json @@ -0,0 +1,39497 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_005920", + "map": "c001", + "frame_count": 364, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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a/Simul-Robot/c001_episode_005920/source/caption.txt b/Simul-Robot/c001_episode_005920/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..036b5880ff0724cbb51850faa3457eadccb375e3 --- /dev/null +++ b/Simul-Robot/c001_episode_005920/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot uses its left hand to pick up an orange juice carton from beside a brown ceramic bear figurine and carries it across the wooden table before placing it inside a magenta plastic crate, near a small gray cat statue on a sunlit outdoor plaza table. diff --git a/Simul-Robot/c001_episode_005920/source/meta.json b/Simul-Robot/c001_episode_005920/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ceca675a8d2466632b5903a6db335f85b95a1d4 --- /dev/null +++ b/Simul-Robot/c001_episode_005920/source/meta.json @@ -0,0 +1,373 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_005920", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_005920", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_005920", + "robot_yaw_deg": -14.466, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 364, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [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 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + 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then places them into a red plastic tote under bright outdoor lighting.", + "structured": { + "targets": [ + "green_tuna_can", + "rubiks_puzzle_cube" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "rubiks_puzzle_cube", + "n_objects": 3, + "hands_used": [ + "left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "Using both hands, the humanoid robot picks up a small green tuna can and a black-and-white Rubik's cube from a dark marble counter cluttered with a milk carton, soda cans, and clay blobs, then places them into a red plastic tote under bright outdoor lighting. The camera is static.", + "view1": "Using both hands, the humanoid robot picks up a small green tuna can and a black-and-white Rubik's cube from a dark marble counter cluttered with a milk carton, soda cans, and clay blobs, then places them into a red plastic tote under bright outdoor lighting. The camera is static.", + "view2": "Using both hands, the humanoid robot picks up a small green tuna can and a black-and-white Rubik's cube from a dark marble counter cluttered with a milk carton, soda cans, and clay blobs, then places them into a red plastic tote under bright outdoor lighting. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006010/labels/objects.json b/Simul-Robot/c001_episode_006010/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..88cf89c89386e550f9c844f6031f86f2ecec7ece --- /dev/null +++ b/Simul-Robot/c001_episode_006010/labels/objects.json @@ -0,0 +1,7007 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_006010", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "green_tuna_can", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/green_tuna_can/StaticMeshes/canned_tuna.canned_tuna", + "bounds_cm": [ + -3.5403, + -3.2918, + -1.6285, + 3.5403, + 3.2918, + 1.6285 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 160.7162, + "n_verts": 9496, + "n_tris": 15310, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 34.99, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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0.597656, + 0.6875 + ], + [ + 0.714844, + 0.597656, + 0.6875 + ] + ] + }, + "robot_arms_rule": "per frame and view: mean of the visible flags over that side's 256 robot points", + "hands_used": [ + "left", + "right" + ], + "hand_travel_cm": { + "left": 30.8989, + "right": 53.0666 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "rubiks_puzzle_cube", + "hard_metrics": { + "num_cams": 3, + "frames": 427, + "per_cam_blind_max_frames": [ + 4, + 1, + 0 + ], + "per_cam_blind_run": [ + [ + 329, + 332 + ], + [ + 185, + 185 + ], + null + ], + "per_cam_blind_displacement_cm": [ + 0.002, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 7, + "occluded_frames_per_cam": [ + 6, + 1, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "rubiks_puzzle_cube" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006010/sample.json b/Simul-Robot/c001_episode_006010/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..a217f04d5d175930a7f108e2141ebbf59433610f --- /dev/null +++ b/Simul-Robot/c001_episode_006010/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_006010", + "subset": "Simul-Robot", + "id": "c001_episode_006010", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_006010", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006010", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 18:17:27" + }, + "n_views": 3, + "n_frames": 427, + "fps": 20.0, + "duration_s": 21.35, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 49975.9169, + -75071.9727, + 93.7986 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -79.9847 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 49975.9169, + -75071.9727, + 93.7986 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "Using both hands, the humanoid robot picks up a small green tuna can and a black-and-white Rubik's cube from a dark marble counter cluttered with a milk carton, soda cans, and clay blobs, then places them into a red plastic tote under bright outdoor lighting.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "rubiks_puzzle_cube", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 9, + "hands_used": [ + "left", + "right" + ], + "primary_object": "rubiks_puzzle_cube", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1151, + "flag_details": { + "caption_both_hands_phrase": "both hands", + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 4e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0029, + "primary_end_hand_dist_m": 0.2289, + "primary_end_support_dist_m": 0.0032, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "green_tuna_can": 0.00014, + "rubiks_puzzle_cube": 0.26392 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "46110618d152e4385dd4b38889195e4faf8477b81eef0b354a7efd11fbabe507", + "captions.json": "152569aaf6cac59d4b8b1847e3bb6590f118005e62b6985efc8d6b6a217f06b1", + "depth/depth.zip": "071d619ceda596c9543270a2e2f7535b4c399b13efc5a257a1ec6f77c78504af", + "labels/objects.json": "e9198aab897bfb9ab8291f8fda486e11bf2e39c2016e2cb530333983164f8dbc", + "labels/visibility_states.json": "2bd81d948b9f75373eb095d32f5b4552239f7d5c1653cb38bb280daf77b6939e", + "source/cameras.json": "5935fecb745ae1bf8b1934b8d7679413303115b221e9538f5648389e5906ba78", + "source/caption.txt": "d63e7722eda6a0084301f9c57ff9d8e01aba1b43a1a2a6bb73e9899d81173a74", + "source/meta.json": "27c76c2302c9e18f59ac12ab0bf728bd615546d902bf0297236285af42afe676", + "source/points_target.npz": "bf64d45cc6afc3bd14fecb1675ba5156b77d3bca70a3cb151b477e868b28f023", + "source/visibility.json": "0fe064c3976baec14ac0c68361bc2dcfb287bd4690257ec805e693c8729fe569", + "tracks3d.npz": "cdb401e9d45e823432f10eafc274cefc87dec0191cd41920b5a3c67418616fe2", + "videos/view0.mp4": "dd45b16b98140d8356be0f2198f6415304dc106020ca574d12b995c9231fac1e", + "videos/view1.mp4": "a62cb6e512e9cf9a7711352bf2497aa5ddc63c6e41900fb905640392b25b56fa", + "videos/view2.mp4": "7fea489b826094305a24298b664e3e21f8764cb6190a4203c84b67b6023fec8d" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006010/source/cameras.json b/Simul-Robot/c001_episode_006010/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..6d5cc83002a84a471e1543dff72ad591fb70e735 --- /dev/null +++ b/Simul-Robot/c001_episode_006010/source/cameras.json @@ -0,0 +1,46301 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_006010", + "map": "c001", + "frame_count": 427, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..094801d0ad4c3b68e2e11dc83541c8066c612355 --- /dev/null +++ b/Simul-Robot/c001_episode_006010/source/caption.txt @@ -0,0 +1 @@ +Using both hands, the humanoid robot picks up a small green tuna can and a black-and-white Rubik's cube from a dark marble counter cluttered with a milk carton, soda cans, and clay blobs, then places them into a red plastic tote under bright outdoor lighting. diff --git a/Simul-Robot/c001_episode_006010/source/meta.json b/Simul-Robot/c001_episode_006010/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6290947006c3a23d4525b764bd7cd4d1a2d2b3f6 --- /dev/null +++ b/Simul-Robot/c001_episode_006010/source/meta.json @@ -0,0 +1,374 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_006010", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_006010", + "source_sequence": 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b/Simul-Robot/c001_episode_006020/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "The humanoid robot uses both hands to pick up a dark glass bbq sauce bottle and a green-and-gold parmesan cheese canister from the marble counter and places them into a red plastic tote, while a cat figurine and a statue bust sit nearby under bright daylight.", + "structured": { + "targets": [ + "bbq_sauce_bottle", + "parmesan_cheese_canister" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "parmesan_cheese_canister", + "n_objects": 3, + "hands_used": [ + "left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses both hands to pick up a dark glass bbq sauce bottle and a green-and-gold parmesan cheese canister from the marble counter and places them into a red plastic tote, while a cat figurine and a statue bust sit nearby under bright daylight. The camera is static.", + "view1": "The humanoid robot uses both hands to pick up a dark glass bbq sauce bottle and a green-and-gold parmesan cheese canister from the marble counter and places them into a red plastic tote, while a cat figurine and a statue bust sit nearby under bright daylight. The camera is static.", + "view2": "The humanoid robot uses both hands to pick up a dark glass bbq sauce bottle and a green-and-gold parmesan cheese canister from the marble counter and places them into a red plastic tote, while a cat figurine and a statue bust sit nearby under bright daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006020/labels/objects.json b/Simul-Robot/c001_episode_006020/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..0a69c2fb7350d7fe3a8f8618c6260225f925979a --- /dev/null +++ b/Simul-Robot/c001_episode_006020/labels/objects.json @@ -0,0 +1,6109 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_006020", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"hands_used": [ + "left", + "right" + ], + "hand_travel_cm": { + "left": 36.1791, + "right": 23.2711 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "parmesan_cheese_canister", + "hard_metrics": { + "num_cams": 3, + "frames": 367, + "per_cam_blind_max_frames": [ + 8, + 0, + 2 + ], + "per_cam_blind_run": [ + [ + 256, + 263 + ], + null, + [ + 112, + 113 + ] + ], + "per_cam_blind_displacement_cm": [ + 0.124, + null, + 0.825 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 14, + "occluded_frames_per_cam": [ + 12, + 0, + 2 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "parmesan_cheese_canister" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006020/sample.json b/Simul-Robot/c001_episode_006020/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf56b171274f0a743961262826358a07d7677c5 --- /dev/null +++ b/Simul-Robot/c001_episode_006020/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_006020", + "subset": "Simul-Robot", + "id": "c001_episode_006020", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_006020", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006020", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-13 18:25:43" + }, + "n_views": 3, + "n_frames": 367, + "fps": 20.0, + "duration_s": 18.35, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + -14307.0442, + -12622.993, + 99.9971 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -157.3654 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + -14307.0442, + -12622.993, + 99.9971 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 12, + "visible_dropped_by_reason": { + "near_plane": 12, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses both hands to pick up a dark glass bbq sauce bottle and a green-and-gold parmesan cheese canister from the marble counter and places them into a red plastic tote, while a cat figurine and a statue bust sit nearby under bright daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "parmesan_cheese_canister", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 8, + "hands_used": [ + "left", + "right" + ], + "primary_object": "parmesan_cheese_canister", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 977, + "flag_details": { + "caption_both_hands_phrase": "both hands", + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 0.00011, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0031, + "primary_end_hand_dist_m": 0.3671, + "primary_end_support_dist_m": 0.0053, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "bbq_sauce_bottle": 0.00022, + "parmesan_cheese_canister": 0.32622 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "8ebccc25b2c4b16019fbf5eac03e037284123f405432dc4347364eb42678f658", + "captions.json": "a54fa1a07f994796f7e2e09e1c008bc5cbba3ff36d26745f17f638e628be2469", + "depth/depth.zip": "dc9f3f36657125cc2703a29687097fb2bd4ae20115a479e813530ab93db33158", + "labels/objects.json": "c220ea02a285a1937b43ea499764503112f0f3a815df9146b12a93570b4ccc89", + "labels/visibility_states.json": "72c941ee0497223c5f035705e29cad8a95b73666be3761de887a6fb81ec4980c", + "source/cameras.json": "224eea78d02fbffd09cc86e2c6b36b39064e4dd0834bce6e69d52a4fc811ad43", + "source/caption.txt": "06fee9214a4bf788c1b7d17584b0c3d11e826bf14bae3c2758cc1ed42bbcf5dd", + "source/meta.json": "b35e3897e077e66aba56f98b214e336291288961bb5a0db2205816d0fcdb4f07", + "source/points_target.npz": "1c6da18c156c9b8e7faa21d616a015699409daa8436093af5e4c1c76841b5f1d", + "source/visibility.json": "b64c2c69d9b04bf882cb9a5952d84d332dfe1c6d3324ec2b6fad326127d9af11", + "tracks3d.npz": "979944ef001ffd404e58fea88e86b5a7a7bb227ce8607908c9d461149f143443", + "videos/view0.mp4": "916ba731a8593c385c0b9d6f7fb83643fd45f27b68d9cde2459ecb97d2b6b8c9", + "videos/view1.mp4": "8c74854e73e98434f651fc1701735d1eb21f1190b4fb8ab0e8b00d351462f41c", + "videos/view2.mp4": "029fc4f74d22c9c1cd1ad3b4d61b96d87e89d0c6e1db736d838fd3faeb5c995d" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006020/source/cameras.json b/Simul-Robot/c001_episode_006020/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..eca2890632d1081b24a972f2b059e68f8f0e2518 --- /dev/null +++ b/Simul-Robot/c001_episode_006020/source/cameras.json @@ -0,0 +1,39821 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_006020", + "map": "c001", + "frame_count": 367, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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-0,0 +1 @@ +The humanoid robot uses both hands to pick up a dark glass bbq sauce bottle and a green-and-gold parmesan cheese canister from the marble counter and places them into a red plastic tote, while a cat figurine and a statue bust sit nearby under bright daylight. diff --git a/Simul-Robot/c001_episode_006020/source/meta.json b/Simul-Robot/c001_episode_006020/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a74f9ff8103c771b4d755dbe736cfdd38747d95e --- /dev/null +++ b/Simul-Robot/c001_episode_006020/source/meta.json @@ -0,0 +1,376 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_006020", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_006020", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006020", + "robot_yaw_deg": 112.6347, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 367, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [8, 0, 2]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.12, None, 0.83] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 14f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 367, + "per_cam_blind_max_frames": [ + 8, + 0, + 2 + ], + "per_cam_blind_run": [ + [ + 256, + 263 + ], + null, + [ + 112, + 113 + ] + ], + "per_cam_blind_displacement_cm": [ + 0.124, + null, + 0.825 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 14, + "occluded_frames_per_cam": [ + 12, + 0, + 2 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "parmesan_cheese_canister" + }, + "relay": null + }, + "seed": 1736539619, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_granite_smooth_santa_cecilia_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0101, + "az_delta_deg": -3.825, + "elev_delta_deg": -0.485 + }, + "cam01": { + "dist_scale": 1.005, + "az_delta_deg": -3.115, + "elev_delta_deg": 1.108 + }, + "cam02": { + "dist_scale": 1.0003, + "az_delta_deg": 2.737, + "elev_delta_deg": -0.266 + } + }, + "arm_contact_quota": 1 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + "tonemap_auto_exposure_method": "UE_STOCK", + "tonemap_min_ev100": -10.0, + "tonemap_max_ev100": 20.0, + "tonemap_auto_exposure_bias": 0.0 + }, + "enforced": false, + "corrections": { + "settings": [], + "cvars": [] + }, + "scope": "global constant across all clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + 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"spatial_sample_count": 2, + "temporal_sample_count": 1 + }, + "lumen_cvars": [ + "r.Lumen.ScreenProbeGather.DownsampleFactor 8", + "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5" + ], + "scope": "global constant across all clips" + }, + "workspace": { + "table_actor": "table_01_aar", + "top_obb": { + "center_cm": [ + -14307.0442, + -12622.993, + 99.9971 + ], + "half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "yaw_deg": -157.3654 + }, + "top_z_probe": { + "z_plane": 99.9971, + "plane_n": 8, + "n_rays": 9, + "plane_frac": 0.8889, + "plane_spread_cm": 0.0, + "z_min": 99.9971, + "z_max": 110.5053, + "above_plane_cm": [ + 10.508 + ], + "aabb_top_z": 99.9971, + "aabb_minus_ray_cm": 0.0 + }, + "aim": { + "policy": "target_trajectory_midpoint_on_top_plane", + "aim_cm": [ + -14312.4754, + -12670.4423, + 99.9971 + ], + "aim_obb_local": [ + 23.2738, + 41.7045, + 0.0 + ], + "traj_xy_bbox": [ + [ + -14332.724, + -12684.902 + ], + [ + -14292.227, + -12655.982 + ] + ], + "dist_to_obb_center_cm": 47.759 + } + }, + "scene": { + "map": "c001", + "scene_hint": "neutral" + }, + "objects": { + "replay": [ + "bbq_sauce_bottle", + "parmesan_cheese_canister", + "red_plastic_tote" + ], + "n_objects": 3, + "primary_object": "parmesan_cheese_canister", + "primary_span_cm": 40.497, + "kinds": { + "bbq_sauce_bottle": "target", + "parmesan_cheese_canister": "target", + "red_plastic_tote": "placer" + }, + "targets": [ + "bbq_sauce_bottle", + "parmesan_cheese_canister" + ], + "placers": [ + "red_plastic_tote" + ], + "ambiguous": [], + "motion_cm": { + "red_plastic_tote": 0.001, + "bbq_sauce_bottle": 38.969, + "parmesan_cheese_canister": 40.497 + }, + "n_distractors": 8, + "arm_contact": [ + "green_energy_can_v4" + ], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + 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+ "frames": 367, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.970327, + "depth_valid_ratio_min": 0.970327, + "invalid_row_centroid": 0.048167, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 10.0, + "depth_cm_max": 63424.0, + "preview_range_cm": [ + 24.484, + 6296.0 + ] + } + } + }, + "milestone": "P2-M1", + "generated": "2026-09-13 18:25:43", + "pending": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006020/source/visibility.json b/Simul-Robot/c001_episode_006020/source/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..afb41552095f42db6d5c859a1606f08f20c0d09a --- /dev/null +++ b/Simul-Robot/c001_episode_006020/source/visibility.json @@ -0,0 +1,25865 @@ +{ + "schema": "pnp2.visibility/1", + "clip_id": "c001_episode_006020", + "map": "c001", + "fps": 20.0, + "frame_count": 367, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "cameras_moving": [ + false, + false, + false + ], + 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-0.006509424989373441, + -142.15274283635154 + ], + [ + 0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006570/captions.json b/Simul-Robot/c001_episode_006570/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..fedd2766ebf2df0df22e0dc967912d63bb4f1401 --- /dev/null +++ b/Simul-Robot/c001_episode_006570/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "Using both hands, the humanoid robot picks up a black cylindrical energy drink can and a green-labeled tomato can from the marble countertop and places them inside a red plastic tote, near a green apple, a toy truck, a teal egg, and a spray can under bright overhead lighting.", + "structured": { + "targets": [ + "black_energy_can", + "tomato_can" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "tomato_can", + "n_objects": 3, + "hands_used": [ + "left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "Using both hands, the humanoid robot picks up a black cylindrical energy drink can and a green-labeled tomato can from the marble countertop and places them inside a red plastic tote, near a green apple, a toy truck, a teal egg, and a spray can under bright overhead lighting. The camera is static.", + "view1": "Using both hands, the humanoid robot picks up a black cylindrical energy drink can and a green-labeled tomato can from the marble countertop and places them inside a red plastic tote, near a green apple, a toy truck, a teal egg, and a spray can under bright overhead lighting. The camera is static.", + "view2": "Using both hands, the humanoid robot picks up a black cylindrical energy drink can and a green-labeled tomato can from the marble countertop and places them inside a red plastic tote, near a green apple, a toy truck, a teal egg, and a spray can under bright overhead lighting. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006570/labels/objects.json b/Simul-Robot/c001_episode_006570/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e83a5b53a0a79ab85cdef7edfd61ed0137dfcf --- /dev/null +++ b/Simul-Robot/c001_episode_006570/labels/objects.json @@ -0,0 +1,3320 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_006570", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "black_energy_can", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/black_energy_can/StaticMeshes/black_energy_can.black_energy_can", + "bounds_cm": [ + -3.31, + -3.31, + -0.0, + 3.31, + 3.31, + 11.4854 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 293.9452, + "n_verts": 919, + "n_tris": 1344, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 18.777, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "tomato_can" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006570/sample.json b/Simul-Robot/c001_episode_006570/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..d0212733cc20de27d719f841b1eb9bf86b1efd73 --- /dev/null +++ b/Simul-Robot/c001_episode_006570/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_006570", + "subset": "Simul-Robot", + "id": "c001_episode_006570", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_006570", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_006570", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-15 02:09:50" + }, + "n_views": 3, + "n_frames": 181, + "fps": 20.0, + "duration_s": 9.05, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 80046.6591, + 12686.0484, + 4108.1322 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 85.1422 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 80046.6591, + 12686.0484, + 4108.1322 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "Using both hands, the humanoid robot picks up a black cylindrical energy drink can and a green-labeled tomato can from the marble countertop and places them inside a red plastic tote, near a green apple, a toy truck, a teal egg, and a spray can under bright overhead lighting.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "tomato_can", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 5, + "hands_used": [ + "left", + "right" + ], + "primary_object": "tomato_can", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 976, + "flag_details": { + "caption_both_hands_phrase": "both hands", + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 4e-05, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0034, + "primary_end_hand_dist_m": 0.2429, + "primary_end_support_dist_m": 0.0053, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "black_energy_can": 0.0001, + "tomato_can": 0.04548 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "d4ae0898ca230c7344a35cfbec10e283d740d4f99a5d3a52309b869e4b1c6f68", + "captions.json": "8bcc1526b24cbd39a1cbdd356f3c9110b528790db7edf891c0eae167ed401706", + "depth/depth.zip": "0b2056a41d82f879818900d1ae5445c8848476b64e4efe623688b4af121e555a", + "labels/objects.json": "1dc52dddc3f703c332b50c370deef512e68661e1371d0c53cc67abb98cde68b5", + "labels/visibility_states.json": "6063e81dfbe15be0a91baa9b87627e2b0b14950e0f44429cc1f1ff712016916c", + "source/cameras.json": "c741e4d8447b5e92068ee5153bf3241027de0e7362992081550af0575099b86c", + "source/caption.txt": "b89914dce28d89f19755099445a71cbd2716ebb273bef5cea833c0f91eac1a6b", + "source/meta.json": "788c7b82171530b4d8f4445058de6d4193cf698914cfa5c494b8b63e0aa93217", + "source/points_target.npz": "76796cc764f98dbfe57e309e215a277ba25a6673453ce005407188e1d84d6145", + "source/visibility.json": "a5b7216b813e4d755c7bbddea0a61f44422d8b99f211c1836a2a9ee9567c2bfd", + "tracks3d.npz": "4d87f6044ccc951e13293504598af47a1f260225508b484984eb7dc9d4fe1673", + "videos/view0.mp4": "9b72ac6d45a997f80a890cb050a3319034c08bf9bcee937de9d068b19c6447ec", + "videos/view1.mp4": "f622952bd100f1c9a7d906d67b3e97cec1ce11589b7c20ae935f79220ba0089b", + "videos/view2.mp4": "a32061dd13b96a2193066e8d4095f529c143012a2ab48f7d1e0018d47cfe7079" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006570/source/cameras.json b/Simul-Robot/c001_episode_006570/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..1dfb814542e13d38c2980698d2e28df57ec03d62 --- /dev/null +++ b/Simul-Robot/c001_episode_006570/source/cameras.json @@ -0,0 +1,19733 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_006570", + "map": "c001", + "frame_count": 181, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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a/Simul-Robot/c001_episode_006570/source/caption.txt b/Simul-Robot/c001_episode_006570/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..250b6fdd8daae861b3d1986dc9896bb0ea56d8ee --- /dev/null +++ b/Simul-Robot/c001_episode_006570/source/caption.txt @@ -0,0 +1 @@ +Using both hands, the humanoid robot picks up a black cylindrical energy drink can and a green-labeled tomato can from the marble countertop and places them inside a red plastic tote, near a green apple, a toy truck, a teal egg, and a spray can under bright overhead lighting. diff --git a/Simul-Robot/c001_episode_006570/source/meta.json b/Simul-Robot/c001_episode_006570/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74a2c21407489788f64ba300e7e667173cb106ba --- /dev/null +++ b/Simul-Robot/c001_episode_006570/source/meta.json @@ -0,0 +1,390 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_006570", + "map": "c001", + "map_asset": 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0.0, + 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006600/captions.json b/Simul-Robot/c001_episode_006600/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..83da7ee198ac848def7e43762285b1517a45529b --- /dev/null +++ b/Simul-Robot/c001_episode_006600/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "The humanoid robot uses both hands to pick up a small black energy can and a gold-colored yellow energy drink can from the marble countertop and places them into the pink/red plastic tote, amid a purple can, a teal can, a toy rocket, and a blue mug nearby, under bright outdoor daylight.", + "structured": { + "targets": [ + "black_energy_can", + "yellow_energy_drink" + ], + "placers": [ + "red_plastic_tote" + ], + "primary_object": "yellow_energy_drink", + "n_objects": 3, + "hands_used": [ + "left", + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses both hands to pick up a small black energy can and a gold-colored yellow energy drink can from the marble countertop and places them into the pink/red plastic tote, amid a purple can, a teal can, a toy rocket, and a blue mug nearby, under bright outdoor daylight. The camera is static.", + "view1": "The humanoid robot uses both hands to pick up a small black energy can and a gold-colored yellow energy drink can from the marble countertop and places them into the pink/red plastic tote, amid a purple can, a teal can, a toy rocket, and a blue mug nearby, under bright outdoor daylight. The camera is static.", + "view2": "The humanoid robot uses both hands to pick up a small black energy can and a gold-colored yellow energy drink can from the marble countertop and places them into the pink/red plastic tote, amid a purple can, a teal can, a toy rocket, and a blue mug nearby, under bright outdoor daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006600/labels/objects.json b/Simul-Robot/c001_episode_006600/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..5f2da99fb683f495d40a9e140244cf04febbc617 --- /dev/null +++ b/Simul-Robot/c001_episode_006600/labels/objects.json @@ -0,0 +1,6934 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_006600", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "black_energy_can", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": false, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/black_energy_can/StaticMeshes/black_energy_can.black_energy_can", + "bounds_cm": [ + -3.31, + -3.31, + -0.0, + 3.31, + 3.31, + 11.4854 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 293.9452, + "n_verts": 919, + "n_tris": 1344, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 31.341, + "pushed_cm": null, + "fell_off": false, + "arm_contact": false, + 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"yellow_energy_drink" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006600/sample.json b/Simul-Robot/c001_episode_006600/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..d3ba2becb00e2dbde76b68500ec474efd2ef39a7 --- /dev/null +++ b/Simul-Robot/c001_episode_006600/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_006600", + "subset": "Simul-Robot", + "id": "c001_episode_006600", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_006600", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006600", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-14 00:25:16" + }, + "n_views": 3, + "n_frames": 422, + "fps": 20.0, + "duration_s": 21.1, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + -835.035, + -25059.1484, + 104.997 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 13.5666 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + -835.035, + -25059.1484, + 104.997 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1280, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 768, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses both hands to pick up a small black energy can and a gold-colored yellow energy drink can from the marble countertop and places them into the pink/red plastic tote, amid a purple can, a teal can, a toy rocket, and a blue mug nearby, under bright outdoor daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 0, + "hard_target": "yellow_energy_drink", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 3, + "n_distractors": 8, + "hands_used": [ + "left", + "right" + ], + "primary_object": "yellow_energy_drink", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1004, + "flag_details": { + "caption_both_hands_phrase": "both hands", + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 0.0, + "primary_end_net_disp_10_frames_m": 0.0, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0042, + "primary_end_hand_dist_m": 0.4373, + "primary_end_support_dist_m": 0.0076, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "black_energy_can": 0.00012, + "yellow_energy_drink": 0.33746 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "b3739dfa264cc4a6444edeae5f8fdefa65cf88bc6dd65b9cf2c6b3a2af5f2cb4", + "captions.json": "f0575fb8881fb3dd2a0ea8c7eef3abeaa796f6c0fb25d1e5de8d8338f7174dad", + "depth/depth.zip": "ecafdeea7355eac2e482f31b7be9879b50d234b1d3da5e66be9d04341a5351b5", + "labels/objects.json": "a1cd912cee05f01172113fb692a14a2abfc1766cee4461b5fc773cb51c01de43", + "labels/visibility_states.json": "204f0d541082f4db14e16dd46868a92302dc3fd92cdaefef7c07e1eb4730fc7d", + "source/cameras.json": "d4216b5efa59ab077c0358382fc1285755eaae3d5c0244a74f95709a4408edd1", + "source/caption.txt": "9eb342979b0d9fb38e07447ecf57742cc22423fd5a9dcddd94a27155609cf6dc", + "source/meta.json": "6f1d6d567fef401a766a9c44d5a7547384c4d9a308865b684845f4bcc160e12b", + "source/points_target.npz": "2d018afcb2e493bc8683e0f55379ae1ff065d5ca317bb3ab483f0ff5296f39ab", + "source/visibility.json": "de5d32af66af5879f0b75e045cbd535b8a684ef338010190251a28fbd8bfbfbc", + "tracks3d.npz": "9d15092e1798f7aca65de428effbfad3a6255e002b9708bc19830d77248af827", + "videos/view0.mp4": "a0466754d2250f5db8513bab6c684fcc454919caf34674d671bb13e6c9669511", + "videos/view1.mp4": "1f2b0a128851dc9f6babb06e25c0c9c887d1265a4a1cb9f6645ab73186e4f52d", + "videos/view2.mp4": "073fc82f6c5a4e46df85d4c95bec8ae6cfdff78805292f9b3cfb8558944afd8f" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006600/source/cameras.json b/Simul-Robot/c001_episode_006600/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..8400de3f30f0df2f25db545452af02ecf79bb175 --- /dev/null +++ b/Simul-Robot/c001_episode_006600/source/cameras.json @@ -0,0 +1,45761 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_006600", + "map": "c001", + "frame_count": 422, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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a/Simul-Robot/c001_episode_006600/source/meta.json b/Simul-Robot/c001_episode_006600/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d93ae0e12a8cd9b3eb1a3df4454363f862dd5c --- /dev/null +++ b/Simul-Robot/c001_episode_006600/source/meta.json @@ -0,0 +1,368 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_006600", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_006600", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_006600", + "robot_yaw_deg": -76.4333, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 422, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)", + "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 422, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "yellow_energy_drink" + }, + "relay": null + }, + "seed": 1723381527, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_granite_rough_santa_cecilia_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 0.9584, + "az_delta_deg": -2.714, + "elev_delta_deg": 0.316 + }, + "cam01": { + "dist_scale": 1.0145, + "az_delta_deg": -3.136, + "elev_delta_deg": 0.337 + }, + "cam02": { + "dist_scale": 0.988, + "az_delta_deg": -2.58, + "elev_delta_deg": -1.837 + } + }, + "arm_contact_quota": 1 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + 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+ "yellow_energy_drink": "target" + }, + "targets": [ + "black_energy_can", + "yellow_energy_drink" + ], + "placers": [ + "red_plastic_tote" + ], + "ambiguous": [], + "motion_cm": { + "black_energy_can": 31.341, + "red_plastic_tote": 0.012, + "yellow_energy_drink": 57.685 + }, + "n_distractors": 8, + "arm_contact": [ + "sweet_corn_can_v2" + ], + "fell_off": [], + "pushed_cm": {} + }, + "robot_points": { + "n_points": 512, + "per_side": { + "left": 256, + "right": 256 + }, + "hand_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "hands_used": [ + "left", + "right" + ], + "hand_travel_cm": { + "left": 51.9857, + "right": 19.9144 + } + }, + "depth": { + "format": "16-bit PNG, pixel value = centimeters", + "source": "MRQ WorldDepth PP pass, EXR half, cv2 channel index 2 (z-depth)", + "zip_compression": "stored (uncompressed)", + "preview_mp4_is_not_metric": true, + "per_camera": { + "cam00": { + "frames": 422, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 17.125, + "depth_cm_max": 403.25, + "preview_range_cm": [ + 22.938, + 375.0 + ] + }, + "cam01": { + "frames": 422, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 1.0, + "depth_valid_ratio_min": 1.0, + "invalid_row_centroid": null, + "invalid_top_third_frac": null, + "depth_cm_min": 18.484, + "depth_cm_max": 39584.0, + "preview_range_cm": [ + 26.969, + 5896.0 + ] + }, + "cam02": { + "frames": 422, + "depth_valid_range_cm": [ + 1.0, + 65000.0 + ], + "depth_valid_ratio_mean": 0.999092, + "depth_valid_ratio_min": 0.999084, + "invalid_row_centroid": 0.039354, + "invalid_top_third_frac": 1.0, + "depth_cm_min": 29.328, + "depth_cm_max": 64608.0, + "preview_range_cm": [ + 29.688, + 14352.0 + ] + } + } + }, + "milestone": "P2-M1", + "generated": "2026-09-14 00:25:16", + "pending": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_006600/source/visibility.json b/Simul-Robot/c001_episode_006600/source/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..df14de58ac42a006dec6b098ffe1f3c8b1b6ba94 --- /dev/null +++ b/Simul-Robot/c001_episode_006600/source/visibility.json @@ -0,0 +1,29709 @@ +{ + "schema": "pnp2.visibility/1", + "clip_id": "c001_episode_006600", + "map": "c001", + "fps": 20.0, + "frame_count": 422, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "cameras_moving": [ + false, + false, + false + ], + "targets": [ + { + "id": "black_energy_can", + "asset": "/PSLAssetLibrary/black_energy_can/StaticMeshes/black_energy_can.black_energy_can", + "kind": "target", + "is_primary": false + }, + { + "id": "yellow_energy_drink", + "asset": "/PSLAssetLibrary/yellow_energy_drink/StaticMeshes/yellow_energy_drink.yellow_energy_drink", + "kind": "target", + "is_primary": true + }, + { + "id": 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+ 0.0, + 0.0, + 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." +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_007660/captions.json b/Simul-Robot/c001_episode_007660/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..f13fec40196976c7783d9345e369be160dc3f35c --- /dev/null +++ b/Simul-Robot/c001_episode_007660/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "The humanoid robot grasps a small light-blue seasoning shaker from the red tote with its left hand and lifts it above the tote, moving it near a black energy can, a small white cube, and the red plastic tote itself, amid nearby tomatoes, canned goods, and other beverage cans on a wooden table under bright outdoor daylight.", + "structured": { + "targets": [ + "blue_seasoning_shaker" + ], + "placers": [ + "black_energy_can", + "red_plastic_tote", + "small_white_cube" + ], + "primary_object": "blue_seasoning_shaker", + "n_objects": 4, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot grasps a small light-blue seasoning shaker from the red tote with its left hand and lifts it above the tote, moving it near a black energy can, a small white cube, and the red plastic tote itself, amid nearby tomatoes, canned goods, and other beverage cans on a wooden table under bright outdoor daylight. The camera is static.", + "view1": "The humanoid robot grasps a small light-blue seasoning shaker from the red tote with its left hand and lifts it above the tote, moving it near a black energy can, a small white cube, and the red plastic tote itself, amid nearby tomatoes, canned goods, and other beverage cans on a wooden table under bright outdoor daylight. The camera is static.", + "view2": "The humanoid robot grasps a small light-blue seasoning shaker from the red tote with its left hand and lifts it above the tote, moving it near a black energy can, a small white cube, and the red plastic tote itself, amid nearby tomatoes, canned goods, and other beverage cans on a wooden table under bright outdoor daylight. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_007660/labels/objects.json b/Simul-Robot/c001_episode_007660/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..e283c28c2b8438c6075a9150e8f98a4ae4730f76 --- /dev/null +++ b/Simul-Robot/c001_episode_007660/labels/objects.json @@ -0,0 +1,3519 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_007660", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"per_cam_blind_max_frames": [ + 0, + 0, + 2 + ], + "per_cam_blind_run": [ + null, + null, + [ + 50, + 51 + ] + ], + "per_cam_blind_displacement_cm": [ + null, + null, + 1.291 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 2, + "occluded_frames_per_cam": [ + 0, + 0, + 2 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "blue_seasoning_shaker" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_007660/sample.json b/Simul-Robot/c001_episode_007660/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..799f481eb965acb9352a83dade251105e27a1d24 --- /dev/null +++ b/Simul-Robot/c001_episode_007660/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_007660", + "subset": "Simul-Robot", + "id": "c001_episode_007660", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_007660", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_007660", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-14 16:56:32" + }, + "n_views": 3, + "n_frames": 144, + "fps": 20.0, + "duration_s": 7.2, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 70.187, + -14642.9814, + 93.7986 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -106.6322 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 70.187, + -14642.9814, + 93.7986 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1536, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 1024, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot grasps a small light-blue seasoning shaker from the red tote with its left hand and lifts it above the tote, moving it near a black energy can, a small white cube, and the red plastic tote itself, amid nearby tomatoes, canned goods, and other beverage cans on a wooden table under bright outdoor daylight.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "blue_seasoning_shaker", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 4, + "n_distractors": 8, + "hands_used": [ + "left" + ], + "primary_object": "blue_seasoning_shaker", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1136, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": null, + "primary_end_speed_mean_m_per_frame": 0.00016, + "primary_end_net_disp_10_frames_m": 0.0003, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0021, + "primary_end_hand_dist_m": 0.1063, + "primary_end_support_dist_m": 0.0042, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "blue_seasoning_shaker": 0.47977 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "f26ef8e2081e67d7beb93af4fd96e34162a95ead3a2f472a703ff4b382ba112a", + "captions.json": "bf886c8b7c276652f51dadd83461491294073deac27291a5b94b01a5da8bb1d6", + "depth/depth.zip": "bc56772cbf4ee9a7eb0a65a6c5f153d712c78bd8e6fd7b65aaebdc64edff3c1b", + "labels/objects.json": "ac7a12a269fd5e7feab8bf7c4536d787facde5c62fd14767b5c10dcadadbc63f", + "labels/visibility_states.json": "447649d08bc9f5dcdfb86c21b4796f195e5a55e3a8cbe9491a523ce48a254b7c", + "source/cameras.json": "9235282c40bef82711be973243a118c43275f309d8bca07b34a97a91b50ab4e7", + "source/caption.txt": "4cbd6ab84702255759db8c3f51a7a7b0f931bdb5eb48d39ac1a5e758ceac3027", + "source/meta.json": "734676413ba013b7d606f1614f93d33845056366533943773007c1d43f1d184f", + "source/points_target.npz": "d975004e18a265344f51288ce651e12adc3a4741ed99c0ccbd0920cf5e590cf3", + "source/visibility.json": "561432a48460b40de18592efce015b25a5e211dadc0bcc7feeadebfe0542949d", + "tracks3d.npz": "8be19a58e99e03906272a37c0b15cb1df192ba42190a55806418acaf2e0f9e05", + "videos/view0.mp4": "3ac1b49c41c68ebc6c6ff6392bef7fd03ba1c3ba69d15390bac1053e22ff51fa", + "videos/view1.mp4": "416a57a84ed89eba7093458a7bdc1a8d8f574e4035abcb5b171fc851e41ea6c0", + "videos/view2.mp4": "a2b8a79619fb4c1f52c7e0c844c4c49ea98ec04bd452f5f32134afb7caa344f8" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_007660/source/cameras.json b/Simul-Robot/c001_episode_007660/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..3846cddf5e3d466bf72d6822df86770a472894e6 --- /dev/null +++ b/Simul-Robot/c001_episode_007660/source/cameras.json @@ -0,0 +1,15737 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_007660", + "map": "c001", + "frame_count": 144, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..71e768fed75ddc3712c2f35402c2ed08fe1a377d --- /dev/null +++ b/Simul-Robot/c001_episode_007660/source/caption.txt @@ -0,0 +1 @@ +The humanoid robot grasps a small light-blue seasoning shaker from the red tote with its left hand and lifts it above the tote, moving it near a black energy can, a small white cube, and the red plastic tote itself, amid nearby tomatoes, canned goods, and other beverage cans on a wooden table under bright outdoor daylight. diff --git a/Simul-Robot/c001_episode_007660/source/meta.json b/Simul-Robot/c001_episode_007660/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b9d7b08123ab232939b929e63160f6f49902732 --- /dev/null +++ b/Simul-Robot/c001_episode_007660/source/meta.json @@ -0,0 +1,372 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_007660", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_007660", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_007660", + "robot_yaw_deg": 163.3679, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 144, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 2]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 1.29] < 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" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 144, + "per_cam_blind_max_frames": [ + 0, + 0, + 2 + ], + "per_cam_blind_run": [ + null, + null, + [ + 50, + 51 + ] + ], + "per_cam_blind_displacement_cm": [ + null, + null, + 1.291 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 2, + "occluded_frames_per_cam": [ + 0, + 0, + 2 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "blue_seasoning_shaker" + }, + "relay": null + }, + "seed": 764500689, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": {}, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Wood/MI_wood_cherry_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 1.0313, + "az_delta_deg": -2.101, + "elev_delta_deg": -1.09 + }, + "cam01": { + "dist_scale": 0.9419, + "az_delta_deg": -0.893, + "elev_delta_deg": -2.314 + }, + "cam02": { + "dist_scale": 1.0318, + "az_delta_deg": 0.204, + "elev_delta_deg": -1.007 + } + }, + "arm_contact_quota": 0 + }, + "tonemap": { + "recorded": true, + "plugin": "AdvancedTonemapper", + "plugin_version": "2.2", + "mode": "AG_X", + "params": { + "enable_tonemapping": true, + "tonemap_mode": "AG_X", + "tonemap_exposure": 0.0, + "tonemap_shadow_lift": 0.0, + "tonemap_contrast": 0.7799999713897705, + "tonemap_gamma": 1.2000000476837158, + "tonemap_color_saturation": 1.0, + "tonemap_bloom_preserve": 1.0, + "tonemap_ag_x_slope": 1.0, + "tonemap_ag_x_offset": 0.0, + "tonemap_ag_x_power": 1.0, + "tonemap_ag_x_saturation": 1.0, + "tonemap_auto_exposure": true, + "tonemap_auto_exposure_method": "UE_STOCK", + "tonemap_min_ev100": -10.0, + "tonemap_max_ev100": 20.0, + "tonemap_auto_exposure_bias": 0.0 + }, + "enforced": false, + "corrections": { + "settings": [], + "cvars": [] + }, + "scope": "global constant across all clips (PB-M2t AT2 — not randomized)" + }, + "look": { + "recorded": true, + "version": "pnp.look/4", + "map_key": "c001", + "fingerprint_ok": true, + "camera_pp": { + "cam00": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam01": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + }, + "cam02": { + "vignette_intensity": 0.15, + "scene_fringe_intensity": 0.06, + "auto_exposure_bias": 1.25, + "film_grain_intensity": 0.15, + "film_grain_intensity_shadows": 0.4, + "film_grain_intensity_midtones": 1.0, + "film_grain_intensity_highlights": 0.5, + "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000" + } + }, + "aa": { + "method": "AAM_NONE", + "spatial_sample_count": 2, + "temporal_sample_count": 1 + }, + "lumen_cvars": [ + "r.Lumen.ScreenProbeGather.DownsampleFactor 8", + "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5" + ], + "scope": "global constant across all clips" + }, + "workspace": { + "table_actor": "table_01_aar", + "top_obb": { + "center_cm": [ + 70.187, + -14642.9814, + 93.7986 + ], + "half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "yaw_deg": -106.6322 + }, + "top_z_probe": { + "z_plane": 93.7986, + "plane_n": 9, + "n_rays": 9, + "plane_frac": 1.0, + "plane_spread_cm": 0.0, + "z_min": 93.7986, + "z_max": 93.7986, + "above_plane_cm": [], + "aabb_top_z": 93.7986, + "aabb_minus_ray_cm": 0.0 + }, + "aim": { + "policy": "target_trajectory_midpoint_on_top_plane", + "aim_cm": [ + 95.8329, + -14640.1213, + 93.7986 + ], + 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b/Simul-Robot/c001_episode_008100/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..0bffdbd8e75c17391a18817027759cefd5ac6651 --- /dev/null +++ b/Simul-Robot/c001_episode_008100/captions.json @@ -0,0 +1,25 @@ +{ + "caption": "The humanoid robot uses its left hand to pick up a red energy drink can and lifts it out of a pink plastic tote that also holds a small yellow cube and a purple figurine, near a peas can, onion, and shell, on a sunlit outdoor granite counter.", + "structured": { + "targets": [ + "red_energy_can" + ], + "placers": [ + "peas_food_can", + "red_plastic_tote", + "small_yellow_cube" + ], + "primary_object": "red_energy_can", + "n_objects": 4, + "hands_used": [ + "left" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its left hand to pick up a red energy drink can and lifts it out of a pink plastic tote that also holds a small yellow cube and a purple figurine, near a peas can, onion, and shell, on a sunlit outdoor granite counter. The camera is static.", + "view1": "The humanoid robot uses its left hand to pick up a red energy drink can and lifts it out of a pink plastic tote that also holds a small yellow cube and a purple figurine, near a peas can, onion, and shell, on a sunlit outdoor granite counter. The camera is static.", + "view2": "The humanoid robot uses its left hand to pick up a red energy drink can and lifts it out of a pink plastic tote that also holds a small yellow cube and a purple figurine, near a peas can, onion, and shell, on a sunlit outdoor granite counter. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_008100/labels/objects.json b/Simul-Robot/c001_episode_008100/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..1d380b62756e7f409de9d653b506b8234710d8c9 --- /dev/null +++ b/Simul-Robot/c001_episode_008100/labels/objects.json @@ -0,0 +1,2263 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_008100", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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points", + "hands_used": [ + "left" + ], + "hand_travel_cm": { + "left": 42.7648, + "right": 0.2506 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "red_energy_can", + "hard_metrics": { + "num_cams": 3, + "frames": 81, + "per_cam_blind_max_frames": [ + 3, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 29, + 31 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 2.005, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 3, + "occluded_frames_per_cam": [ + 3, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "red_energy_can" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_008100/sample.json b/Simul-Robot/c001_episode_008100/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..e52cf5c363cf8ce3cd0c179d3d1361158d4b8961 --- /dev/null +++ b/Simul-Robot/c001_episode_008100/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_008100", + "subset": "Simul-Robot", + "id": "c001_episode_008100", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_008100", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_008100", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-14 20:37:18" + }, + "n_views": 3, + "n_frames": 81, + "fps": 20.0, + "duration_s": 4.05, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 91030.5417, + 6655.9359, + 115.196 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 130.7643 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 91030.5417, + 6655.9359, + 115.196 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1536, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 1024, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its left hand to pick up a red energy drink can and lifts it out of a pink plastic tote that also holds a small yellow cube and a purple figurine, near a peas can, onion, and shell, on a sunlit outdoor granite counter.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "red_energy_can", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 4, + "n_distractors": 8, + "hands_used": [ + "left" + ], + "primary_object": "red_energy_can", + "distractor_max_pushed_cm": 0.914, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1079, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": null, + "primary_end_speed_mean_m_per_frame": 0.00015, + "primary_end_net_disp_10_frames_m": 0.0004, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0043, + "primary_end_hand_dist_m": 0.2213, + "primary_end_support_dist_m": 0.0043, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "red_energy_can": 0.44158 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "4e91578451eca4cae7d6ff05f1c50fb544efa636384f6e08f8b0b2e0258dbc55", + "captions.json": "5ffdbb58053240fd0ff80427d29bb1c9a18a1809cb875f867293a41b87d08b28", + "depth/depth.zip": "6c3ea25f87353a409fb879753ac8170e4aa05a880040f044fee99025097f7766", + "labels/objects.json": "6591812275cffb690c81ca548c52c312080e798193e0f639878174018484638b", + "labels/visibility_states.json": "26df058af554acfbc13c95641a81b1a4bad0deb51ab2d15988d239d8ca0e2494", + "source/cameras.json": "ffe60247fcbf015e1c4b3819fdd98b0f5b4bdfb812e4f06cc9e481923dbbe020", + "source/caption.txt": "4048a30b72ed37e5c101274822c452574cb8604e448fa2b27369bd2544946303", + "source/meta.json": "69637ebed422de7d7384319d612466cee7d0914892cd60e9c37ce396030079fa", + "source/points_target.npz": "2071e060792815aafbcc7eca05b52a7a965012ef375be311ef577de67cdf0063", + "source/visibility.json": "157e577498e8cb4004a9205f10405f510f22390bcea51d590f72088c60b88293", + "tracks3d.npz": "11aae4afe3a56f642ae7bdf43d959b90e408e79879756efff841055da7a523d5", + "videos/view0.mp4": "281268a4a689f816851202fc1edea64f411a975ae0abb8c808cf58c578c8b9a5", + "videos/view1.mp4": "6d80526b6c46bdf1f6ea5955e7e3d4df1f20206ca33a1fd99ae06df4a9132d5f", + "videos/view2.mp4": "b4fddf47dd96f5245af79b2ec5f4092fad0b840429f7bd327a5bdd9fd53b0c64" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_008100/source/cameras.json b/Simul-Robot/c001_episode_008100/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0768e4f6d61551c8e32626a13e01bb188be953 --- /dev/null +++ b/Simul-Robot/c001_episode_008100/source/cameras.json @@ -0,0 +1,8933 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_008100", + "map": "c001", + "frame_count": 81, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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0000000000000000000000000000000000000000..315e0bc4f483d2982dd75194f79b17d69ac31d78 --- /dev/null +++ b/Simul-Robot/c001_episode_008100/source/meta.json @@ -0,0 +1,376 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_008100", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_008100", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_008100", + "robot_yaw_deg": 40.7643, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 81, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [3, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [2.01, None, 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" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 81, + "per_cam_blind_max_frames": [ + 3, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 29, + 31 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 2.005, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 3, + "occluded_frames_per_cam": [ + 3, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "red_energy_can" + }, + "relay": null + }, + "seed": 304043467, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": 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"red_energy_can", + "sweet_corn_can" + ], + "primary_object": "small_yellow_cube", + "n_objects": 4, + "hands_used": [ + "right" + ], + "scene_hint": "neutral", + "map": "c001" + }, + "legacy_prompts": { + "view0": "The humanoid robot grips a small pale yellow cube in its right hand and lifts it up from the marble table, carrying it over toward the magenta plastic crate holding a corn can, near a red energy drink can, a dark can, and a white packet, on a sunlit outdoor street. The camera is static.", + "view1": "The humanoid robot grips a small pale yellow cube in its right hand and lifts it up from the marble table, carrying it over toward the magenta plastic crate holding a corn can, near a red energy drink can, a dark can, and a white packet, on a sunlit outdoor street. The camera is static.", + "view2": "The humanoid robot grips a small pale yellow cube in its right hand and lifts it up from the marble table, carrying it over toward the magenta plastic crate holding a corn can, near a red energy drink can, a dark can, and a white packet, on a sunlit outdoor street. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_008710/labels/objects.json b/Simul-Robot/c001_episode_008710/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..809decc256549ea58650fb670d4f22cf6581d31b --- /dev/null +++ b/Simul-Robot/c001_episode_008710/labels/objects.json @@ -0,0 +1,2641 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_008710", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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0.476562 + ], + [ + 0.609375, + 0.523438, + 0.46875 + ] + ] + }, + "robot_arms_rule": "per frame and view: mean of the visible flags over that side's 256 robot points", + "hands_used": [ + "right" + ], + "hand_travel_cm": { + "left": 0.1492, + "right": 47.4086 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 1, + "hard_target": "small_yellow_cube", + "hard_metrics": { + "num_cams": 3, + "frames": 100, + "per_cam_blind_max_frames": [ + 0, + 3, + 0 + ], + "per_cam_blind_run": [ + null, + [ + 60, + 62 + ], + null + ], + "per_cam_blind_displacement_cm": [ + null, + 4.697, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 3, + "occluded_frames_per_cam": [ + 0, + 3, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "small_yellow_cube" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_008710/sample.json b/Simul-Robot/c001_episode_008710/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..504061001bc9dc185d52a920c2a61591efd826d1 --- /dev/null +++ b/Simul-Robot/c001_episode_008710/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_008710", + "subset": "Simul-Robot", + "id": "c001_episode_008710", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_008710", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_008710", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-14 22:28:36" + }, + "n_views": 3, + "n_frames": 100, + "fps": 20.0, + "duration_s": 5.0, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 95703.9676, + 10019.5642, + 99.7657 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -166.9605 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 95703.9676, + 10019.5642, + 99.7657 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1536, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 1024, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot grips a small pale yellow cube in its right hand and lifts it up from the marble table, carrying it over toward the magenta plastic crate holding a corn can, near a red energy drink can, a dark can, and a white packet, on a sunlit outdoor street.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "small_yellow_cube", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 4, + "n_distractors": 5, + "hands_used": [ + "right" + ], + "primary_object": "small_yellow_cube", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 1243, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": null, + "primary_end_speed_mean_m_per_frame": 9e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.123, + "primary_end_hand_dist_m": 0.0412, + "primary_end_support_dist_m": 0.004, + "primary_end_airborne": true, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "small_yellow_cube": 0.525 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "9d66de56116818e30b007ea5fa6f49e4d610649fb73ba4b442e0024bc1e86c8d", + "captions.json": "cd99bae4100714efdaf3b10e62406eb42f8bef359d7e960ce40c36ae19aebab6", + "depth/depth.zip": "234d665a1d9acc71d31fecd44ec34e8286adf94b23e3627204f3d90657ac8d39", + "labels/objects.json": "6ffce8a9360b6a4b8600131a42b3825b9943fa2caee69eca9b8136622ac982a7", + "labels/visibility_states.json": "ae7dcbca5b2dbf8b65cfad55274bcda6ea34bc3b396ed4edafb4d9727cd4d26d", + "source/cameras.json": "2e301354834d0497de4314f478cafed051058c3bcacb6ab1694540b69a5bc4ee", + "source/caption.txt": "90ae36342ee5f52383e9b2cebdf705bb819f9633bf11187e18583150346989ee", + "source/meta.json": "1d616b9ff61c9333cb9ad0ee14a93c90acedb7d55d8ac784c3c4c3fc61196cb2", + "source/points_target.npz": "d34bdeeeffff1df74a6aea22cce89bb89d181978a4ac2c8ec18fc056ad628c98", + "source/visibility.json": "4ddca2964893fa89a9cd462703a5b0be8b85cb174b79f247c41540a53eaa8371", + "tracks3d.npz": "bb154f451cae12a031ba2d3c2549203dc95f70839de6e24cefa1d2790154107c", + "videos/view0.mp4": "072fd087138f18d9a90e5866b4d2ead58db91dcf69777150a49bbd086fc25c27", + "videos/view1.mp4": "5303f6bddd11fd1e244f533d6f6776236a7f29b4f56ac6eb11aac6d920b23e24", + "videos/view2.mp4": "6054b2765b178e094257b7ef0aa4e7643229f0eff73dfc7ea56d22192f7982cb" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_008710/source/cameras.json b/Simul-Robot/c001_episode_008710/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..92ee63761b3a396e102d1db9eaf78b830dc4fde4 --- /dev/null +++ b/Simul-Robot/c001_episode_008710/source/cameras.json @@ -0,0 +1,10985 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_008710", + "map": "c001", + "frame_count": 100, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/c001_episode_008710/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91bfe10574681a026533e87868fbfa9eb3be4b66 --- /dev/null +++ b/Simul-Robot/c001_episode_008710/source/meta.json @@ -0,0 +1,374 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_008710", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_008710", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_008710", + "robot_yaw_deg": 103.0395, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 100, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": 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"legacy_prompts": { + "view0": "The humanoid robot grasps a small brown kraft coffee bag with its left hand and lifts it off the sunlit marble table, holding it briefly before setting it back down, amid nearby vases, figurines, a jar, a soda can, and a juice carton. The camera is static.", + "view1": "The humanoid robot grasps a small brown kraft coffee bag with its left hand and lifts it off the sunlit marble table, holding it briefly before setting it back down, amid nearby vases, figurines, a jar, a soda can, and a juice carton. The camera is static.", + "view2": "The humanoid robot grasps a small brown kraft coffee bag with its left hand and lifts it off the sunlit marble table, holding it briefly before setting it back down, amid nearby vases, figurines, a jar, a soda can, and a juice carton. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_009280/labels/objects.json b/Simul-Robot/c001_episode_009280/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a480f664296609e0c9cc89e364e09c65f08e11 --- /dev/null +++ b/Simul-Robot/c001_episode_009280/labels/objects.json @@ -0,0 +1,1027 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "c001_episode_009280", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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+ ], + "hand_travel_cm": { + "left": 20.3918, + "right": 0.1449 + }, + "points_per_side": { + "left": 256, + "right": 256 + }, + "hand_points_per_side": { + "left": 128, + "right": 128 + }, + "links_per_side": { + "left": 18, + "right": 18 + }, + "side_convention": "the robot's own left/right", + "propagation": "per-link rigid (link world transform per frame)" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_009280/labels/visibility_states.json b/Simul-Robot/c001_episode_009280/labels/visibility_states.json new file mode 100644 index 0000000000000000000000000000000000000000..45eece36e3908a76a8ad46547cb63816f9720f71 --- /dev/null +++ b/Simul-Robot/c001_episode_009280/labels/visibility_states.json @@ -0,0 +1,2109 @@ +{ + "schema": "vpm-worldbench/simul-robot/visibility_states/1.0", + "id": "c001_episode_009280", + "n_frames": 100, + "views": [ + "view0", + "view1", + "view2" + ], + "source_views": [ + "cam00", + "cam01", + "cam02" + ], + "states": [ + "visible", + "occluded", + "out_of_frustum", + "not_spawned" + ], + "rule": "per frame and view (lists are [frame][view]): out_of_frustum if no point of the object projects inside the image (z > 0, 0 <= u,v < 1280 with the delivered K, cameras.npz K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K); else visible if visible_point_frac > 0.1 (occluded_visible_frac_max); else occluded. visible_point_frac = visible points / points inside the frustum (null when out of frustum). 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"occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "kraft_coffee_bag" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_009280/sample.json b/Simul-Robot/c001_episode_009280/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5bcfbe1a23a1273affa423231c396ab9c7dcf6 --- /dev/null +++ b/Simul-Robot/c001_episode_009280/sample.json @@ -0,0 +1,232 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/c001_episode_009280", + "subset": "Simul-Robot", + "id": "c001_episode_009280", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "c001_episode_009280", + "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_009280", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "generated": "2026-09-14 22:50:37" + }, + "n_views": 3, + "n_frames": 100, + "fps": 20.0, + "duration_s": 5.0, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 35810.473, + -3430.3537, + 113.8287 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": -131.0541 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 35810.473, + -3430.3537, + 113.8287 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 768, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 256, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 65000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot grasps a small brown kraft coffee bag with its left hand and lifts it off the sunlit marble table, holding it briefly before setting it back down, amid nearby vases, figurines, a jar, a soda can, and a juice carton.", + "attributes": { + "difficulty": "normal", + "category": "outdoor_city", + "map": "c001", + "scene": "outdoor_city", + "scene_hint": "neutral", + "hard_k": 1, + "hard_target": "kraft_coffee_bag", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 1, + "n_distractors": 10, + "hands_used": [ + "left" + ], + "primary_object": "kraft_coffee_bag", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 621, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "setting it back", + "primary_end_speed_mean_m_per_frame": 2e-05, + "primary_end_net_disp_10_frames_m": 0.0107, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.1348, + "primary_end_hand_dist_m": 0.0059, + "primary_end_support_dist_m": null, + "primary_end_airborne": true, + "primary_end_held": true, + "primary_end_supported": false, + "target_win_max_point_disp_m": { + "kraft_coffee_bag": 0.11196 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [ + "caption_claims_unfinished_placement" + ], + "files_sha256": { + "cameras.npz": "20e73669efebc4303f4011e416a8a218a900d42e9f7064547ca8ba42d2009da5", + "captions.json": "0a1ecae122edfb18ab79d0af679b9bedaa130840a7fced963808f5660da9e3f4", + "depth/depth.zip": "96ab42f21bd8a31e448360edeadc87b0914323f918660c48dc39d479a05342c4", + "labels/objects.json": "6b0090197f678d89a5c399cebd58ebe0c548243ddf5bad8a0f32be1afbc14473", + "labels/visibility_states.json": "8e69b8863e3f5fb40ff8c75b879d4de1cb38e463157e09df902a80db498ced50", + "source/cameras.json": "62bf968b23061870d2b20fdf0bf018753d32d4389a193c8adf280776b3654ae0", + "source/caption.txt": "dc167b06cb8d7ba7289ccc01d8e5a194f26c04453e36c614bec7c953fc341300", + "source/meta.json": "0df3666428de102318def3ff8ccafaa11ca38d588098a3cc28cb2961afd5d163", + "source/points_target.npz": "6bbe64595bc4368f305d83653d6e45eaeb5fafb18781ecfd04f8d29873269aee", + "source/visibility.json": "dd7daa77750c48649175880e862baa85c6fa671bdd30bde9a7a7100d9b5711f9", + "tracks3d.npz": "f7055a40709ff7a19a2d81a678bfd077fd6839442310def42143669ed451c1b9", + "videos/view0.mp4": "9f55eb5c272fdc2e6a8c537addf2a5c516c89d341afb19aacb3f03762c15e3f8", + "videos/view1.mp4": "0004a51181b0bbb96692cb2ab36fc616cd08cde66cc7eec9b84c5ad78370a167", + "videos/view2.mp4": "274ae20b1aa2b95153edc6878dd710cb05643715cfdbda00ca2959f0f9ec7a58" + } +} \ No newline at end of file diff --git a/Simul-Robot/c001_episode_009280/source/cameras.json b/Simul-Robot/c001_episode_009280/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..2922e71e192a52c6549c4b59bb11bf9b63d4a98c --- /dev/null +++ b/Simul-Robot/c001_episode_009280/source/cameras.json @@ -0,0 +1,10985 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "c001_episode_009280", + "map": "c001", + "frame_count": 100, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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a/Simul-Robot/c001_episode_009280/source/meta.json b/Simul-Robot/c001_episode_009280/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3cafafc25d7b41d56a2f8629c03639c866e35f --- /dev/null +++ b/Simul-Robot/c001_episode_009280/source/meta.json @@ -0,0 +1,362 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "c001_episode_009280", + "map": "c001", + "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked", + "sequence": "episode_009280", + "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence_Trim/episode_009280", + "robot_yaw_deg": 138.9459, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 100, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [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" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 100, + "per_cam_blind_max_frames": [ + 1, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 3, + 3 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 1, + "occluded_frames_per_cam": [ + 1, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "kraft_coffee_bag" + }, + "relay": null + }, + "seed": 2012962149, + "randomization": { + "scope": [ + "lighting", + "surface", + 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실제 가림이 필요하다" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 201, + "per_cam_blind_max_frames": [ + 0, + 0, + 9 + ], + "per_cam_blind_run": [ + null, + null, + [ + 132, + 140 + ] + ], + "per_cam_blind_displacement_cm": [ + null, + null, + 0.068 + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 10, + "occluded_frames_per_cam": [ + 0, + 0, + 10 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "white_cat_figurine" + }, + "relay": null + }, + "seed": 127534399, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": { + "PNPKey_Work": "key", + "PNPGrid_05": "fill", + "PNPGrid_04": "fill", + "SpotLight4": "fill", + "PNPGrid_02": "fill", + "PNPGrid_08": "fill", + "PNPGrid_07": "fill", + "PNPGrid_01": "fill" + }, + "surface_material": 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/dev/null +++ b/Simul-Robot/k001_episode_001040/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The humanoid robot uses its right hand to pick up a slender amber cat figurine standing upright on the counter, lifts and carries it, then lowers and places it inside the open magenta plastic crate, amid nearby jars, a teal vase, a penne box, and colorful tomatoes under bright kitchen lighting.", + "structured": { + "targets": [ + "amber_cat_figurine" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "amber_cat_figurine", + "n_objects": 2, + "hands_used": [ + "right" + ], + "scene_hint": "kitchen countertop", + "map": "k001" + }, + "legacy_prompts": { + "view0": "The humanoid robot uses its right hand to pick up a slender amber cat figurine standing upright on the counter, lifts and carries it, then lowers and places it inside the open magenta plastic crate, amid nearby jars, a teal vase, a penne box, and colorful tomatoes under bright kitchen lighting. The camera is static.", + "view1": "The humanoid robot uses its right hand to pick up a slender amber cat figurine standing upright on the counter, lifts and carries it, then lowers and places it inside the open magenta plastic crate, amid nearby jars, a teal vase, a penne box, and colorful tomatoes under bright kitchen lighting. The camera is static.", + "view2": "The humanoid robot uses its right hand to pick up a slender amber cat figurine standing upright on the counter, lifts and carries it, then lowers and places it inside the open magenta plastic crate, amid nearby jars, a teal vase, a penne box, and colorful tomatoes under bright kitchen lighting. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_001040/labels/objects.json b/Simul-Robot/k001_episode_001040/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea1d143101c30ded7c73fb0b06c7ab9d1fef3b5 --- /dev/null +++ b/Simul-Robot/k001_episode_001040/labels/objects.json @@ -0,0 +1,2825 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "k001_episode_001040", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "amber_cat_figurine" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_001040/sample.json b/Simul-Robot/k001_episode_001040/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..87bfecaf985d63996cae1a261f8f5e2f7f5b1fcc --- /dev/null +++ b/Simul-Robot/k001_episode_001040/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/k001_episode_001040", + "subset": "Simul-Robot", + "id": "k001_episode_001040", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "k001_episode_001040", + "sequence": "/PickAndPlace/KaistWorldModel/Kitchen_001/LevelSequence/episode_001040", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_001/Kaist_kitchen_001", + "generated": "2026-09-11 23:43:54" + }, + "n_views": 3, + "n_frames": 226, + "fps": 20.0, + "duration_s": 11.3, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 1449.9427, + -1004.9788, + 109.59 + ], + "table_half_extent_cm": [ + 103.0007, + 48.0015, + 0.0 + ], + "table_yaw_deg_source": 179.9998 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 1449.9427, + -1004.9788, + 109.59 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Kitchen_001/Kaist_kitchen_001 (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 20000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The humanoid robot uses its right hand to pick up a slender amber cat figurine standing upright on the counter, lifts and carries it, then lowers and places it inside the open magenta plastic crate, amid nearby jars, a teal vase, a penne box, and colorful tomatoes under bright kitchen lighting.", + "attributes": { + "difficulty": "normal", + "category": "indoor_kitchen", + "map": "k001", + "scene": "indoor_kitchen", + "scene_hint": "kitchen countertop", + "hard_k": 0, + "hard_target": "amber_cat_figurine", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 9, + "hands_used": [ + "right" + ], + "primary_object": "amber_cat_figurine", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 851, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "places", + "primary_end_speed_mean_m_per_frame": 8e-05, + "primary_end_net_disp_10_frames_m": 0.0002, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0199, + "primary_end_hand_dist_m": 0.1298, + "primary_end_support_dist_m": 0.0137, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "amber_cat_figurine": 0.30583 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "2356661f4b2c1eb3d77804bf8caa2b43d70325da4647f96f85277549d8c2a8bf", + "captions.json": "0ebf9af358505b94c063f887d3d946d1a5f40ff5c34a3c38f5e13632d0cb9458", + "depth/depth.zip": "d029a5230a62bb0b46771149b9aac23c4aa0b7a409ca2e5ad9543b8e19abd5ba", + "labels/objects.json": "16e024d93523111d996303607aa2e970a1956d60e980963d060caf1f7a56e164", + "labels/visibility_states.json": "a6ec9745d5369ac56c1748df2d332b8bffa49489e236bdbf3d999addaa087b7b", + "source/cameras.json": "ca063524eaf8dfae45b5f2a6517fe434d908078ae13208ec5bfba05e82a103ea", + "source/caption.txt": "7db157ce126867c3b2c4fe92b74544fd74613070c4bbdd4caebc0dc4c0c8994a", + "source/meta.json": "e576c5a7956c1f3c52adf09a1f109029a1d4f4e7d3bb62c60d7bb2250c310efd", + "source/points_target.npz": "872eb031e8f4041854e0ce167475974e0c37441a32a4fdd981574a3f15b8fb70", + "source/visibility.json": "4e59a2ddc2f18c262cee3da46ab289e0714e986c507948e21d8f1db013ef9b32", + "tracks3d.npz": "eac7387f0316c1ba4e8b2b3f024b7236421e202dad8d9f60e06b208c70223b26", + "videos/view0.mp4": "ca223ac63d4b25f218a0d8440a35bd44d12bb9a4f04a5df27c728c3c472ee30f", + "videos/view1.mp4": "faac3c6db8b8e5cc1aa2abe779bee14685ad371a90c20a67fa8e8e1fa36cac43", + "videos/view2.mp4": "5083e031ef4273fe9a1d342eea325249b916335ad105a18de36744b17acb56ed" + } +} \ No newline at end of file diff --git a/Simul-Robot/k001_episode_001040/source/cameras.json b/Simul-Robot/k001_episode_001040/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..7466df37d83ed458207414efb4119aeaeca53567 --- /dev/null +++ b/Simul-Robot/k001_episode_001040/source/cameras.json @@ -0,0 +1,24593 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "k001_episode_001040", + "map": "k001", + "frame_count": 226, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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a/Simul-Robot/k001_episode_001040/source/meta.json b/Simul-Robot/k001_episode_001040/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..256ba349982a3ceb94cb2d0a8438a5697ea84ce2 --- /dev/null +++ b/Simul-Robot/k001_episode_001040/source/meta.json @@ -0,0 +1,371 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "k001_episode_001040", + "map": "k001", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_001/Kaist_kitchen_001", + "sequence": "episode_001040", + "source_sequence": "/PickAndPlace/KaistWorldModel/Kitchen_001/LevelSequence/episode_001040", + "robot_yaw_deg": -90.0, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 226, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + 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index 0000000000000000000000000000000000000000..4cdc1a3cac4819faab6be40dcb3b42de4e66fce0 --- /dev/null +++ b/Simul-Robot/k002_episode_001510/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The robot's black left gripper lifts a cream-colored ceramic cat figurine from beside a magenta plastic crate and lowers it inside, on a marble-look countertop scattered with a mac and cheese box, apples, an orange, and a purple cabbage under bright indoor kitchen lighting.", + "structured": { + "targets": [ + "cream_ceramic_cat" + ], + "placers": [ + "magenta_plastic_crate" + ], + "primary_object": "cream_ceramic_cat", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "kitchen countertop", + "map": "k002" + }, + "legacy_prompts": { + "view0": "The robot's black left gripper lifts a cream-colored ceramic cat figurine from beside a magenta plastic crate and lowers it inside, on a marble-look countertop scattered with a mac and cheese box, apples, an orange, and a purple cabbage under bright indoor kitchen lighting. The camera is static.", + "view1": "The robot's black left gripper lifts a cream-colored ceramic cat figurine from beside a magenta plastic crate and lowers it inside, on a marble-look countertop scattered with a mac and cheese box, apples, an orange, and a purple cabbage under bright indoor kitchen lighting. The camera is static.", + "view2": "The robot's black left gripper lifts a cream-colored ceramic cat figurine from beside a magenta plastic crate and lowers it inside, on a marble-look countertop scattered with a mac and cheese box, apples, an orange, and a purple cabbage under bright indoor kitchen lighting. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_001510/labels/objects.json b/Simul-Robot/k002_episode_001510/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5320749dd8e9487c605caf4436b5aa43386f36 --- /dev/null +++ b/Simul-Robot/k002_episode_001510/labels/objects.json @@ -0,0 +1,2646 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "k002_episode_001510", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + "distractors": "distractor objects are rendered but NOT tracked; arm_contact / pushed_cm / fell_off (meta.objects) name distractors only (no replayed object appears in them in this release)", + "kind": "target = object moved by the robot (unified kind object_moving); placer = every other replayed object (receptacle or context object, essentially static; unified kind object_static)" + }, + "objects": [ + { + "id": "cream_ceramic_cat", + "kind": "target", + "unified_kind": "object_moving", + "is_primary": true, + "part": 0, + "index_range": [ + 0, + 256 + ], + "n_points": 256, + "mesh_path": "/PSLAssetLibrary/cream_ceramic_cat/StaticMeshes/cream_ceramic_cat.cream_ceramic_cat", + "bounds_cm": [ + -3.8942, + -5.1507, + -0.0308, + 4.1835, + 5.0973, + 22.379 + ], + "scale3d": [ + 1.0, + 1.0, + 1.0 + ], + "surface_area_cm2": 479.5161, + "n_verts": 867, + "n_tris": 1730, + "sampler": "ue_mesh/area_weighted", + "motion_cm": 29.425, + "pushed_cm": null, + "fell_off": false, + "arm_contact": 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visible flags over that side's 256 robot points", + "hands_used": [ + "left" + ], + "hand_travel_cm": { + "left": 39.8305, + "right": 0.3734 + }, + "hand_motion_min_cm": 5.0, + "cameras_moving": [ + false, + false, + false + ], + "hard": { + "difficulty": "normal", + "difficulty_attempt": "normal", + "hard_k": 0, + "hard_target": "cream_ceramic_cat", + "hard_metrics": { + "num_cams": 3, + "frames": 208, + "per_cam_blind_max_frames": [ + 0, + 0, + 0 + ], + "per_cam_blind_run": [ + null, + null, + null + ], + "per_cam_blind_displacement_cm": [ + null, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 0, + "occluded_frames_per_cam": [ + 0, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 3, + "target": "cream_ceramic_cat" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_001510/sample.json b/Simul-Robot/k002_episode_001510/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd57f02c96747092c13186adfc50092dd2eaec3 --- /dev/null +++ b/Simul-Robot/k002_episode_001510/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/k002_episode_001510", + "subset": "Simul-Robot", + "id": "k002_episode_001510", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "k002_episode_001510", + "sequence": "/PickAndPlace/KaistWorldModel/Kitchen_002/LevelSequence/episode_001510", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_002/Kaist_kitchen_002", + "generated": "2026-09-12 00:54:34" + }, + "n_views": 3, + "n_frames": 208, + "fps": 20.0, + "duration_s": 10.4, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 1399.1969, + 94.0484, + 120.0 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 159.9999 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 1399.1969, + 94.0484, + 120.0 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Kitchen_002/Kaist_kitchen_002 (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 0, + "visible_dropped_by_reason": { + "near_plane": 0, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 20000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The robot's black left gripper lifts a cream-colored ceramic cat figurine from beside a magenta plastic crate and lowers it inside, on a marble-look countertop scattered with a mac and cheese box, apples, an orange, and a purple cabbage under bright indoor kitchen lighting.", + "attributes": { + "difficulty": "normal", + "category": "indoor_kitchen", + "map": "k002", + "scene": "indoor_kitchen", + "scene_hint": "kitchen countertop", + "hard_k": 0, + "hard_target": "cream_ceramic_cat", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 11, + "hands_used": [ + "left" + ], + "primary_object": "cream_ceramic_cat", + "distractor_max_pushed_cm": 0.0, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 832, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "lowers it inside", + "primary_end_speed_mean_m_per_frame": 8e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.012, + "primary_end_hand_dist_m": 0.2189, + "primary_end_support_dist_m": 0.0105, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "cream_ceramic_cat": 0.22723 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "c721edbd4de6d1499aa3b30b82929983e1b0079a5d3cf9e1f38caa4528bc58f9", + "captions.json": "501e8010481e3089584cca6e3ce5a74af073f435463789d93375fd9f19c2afa2", + "depth/depth.zip": "5f2a34d9bbf01f247a25069fedce12e8010e8088900cce51bbf53ecdf80fa2ca", + "labels/objects.json": "b6aec8059219f97bb926ea22ecefe2ed77948bfcca761f74780416c91f4fb46b", + "labels/visibility_states.json": "7cdd9101f19a9a9ae32800442b577a8de0d47834bb526a7cc36083c82bca05dc", + "source/cameras.json": "edfd5f93c94a05a8e6ba03596bb045f31c69fbb9c0b4819a7c7ab9027b7dd935", + "source/caption.txt": "26e729bad28f6ae276b7fb9d3cb26faceeb0976ed8bb0383427f2f0f82afaaac", + "source/meta.json": "2a9291c13d4433f3ecff9eec016b84f8baf9ebf74e36dc6dd18ecbdf09e941ea", + "source/points_target.npz": "abc04ac32bc05d801a49400235d7aae10d2917215ec15b7c447ec936dfa6735c", + "source/visibility.json": "7b43c093bebbcc2dff559d4633bbb033e3584c32a54cfad24f4dccb406266d7d", + "tracks3d.npz": "1d40a0fc5f8b871ff06adaff247a8193e08cd8d45cafb97fcc93e8f94354a1b5", + "videos/view0.mp4": "fade006216df4ff184915a7d5e8a5a205ada622b9156cf986c0dfe99d19f7998", + "videos/view1.mp4": "7b3b889bd61d48149383c87285254f3a273b04be14db16ecceb7e6a2a9fe5956", + "videos/view2.mp4": "6e1eeafb24843a28c139943cda94b64f25e92e3f233ad462b51d1b9c5b623582" + } +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_001510/source/cameras.json b/Simul-Robot/k002_episode_001510/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..a560af1ae90e72f12d92784cfaf7c53e76f31c2c --- /dev/null +++ b/Simul-Robot/k002_episode_001510/source/cameras.json @@ -0,0 +1,22649 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "k002_episode_001510", + "map": "k002", + "frame_count": 208, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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b/Simul-Robot/k002_episode_001510/source/meta.json @@ -0,0 +1,368 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "k002_episode_001510", + "map": "k002", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_002/Kaist_kitchen_002", + "sequence": "episode_001510", + "source_sequence": "/PickAndPlace/KaistWorldModel/Kitchen_002/LevelSequence/episode_001510", + "robot_yaw_deg": 70.0, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 208, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 0, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 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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." +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_002170/captions.json b/Simul-Robot/k002_episode_002170/captions.json new file mode 100644 index 0000000000000000000000000000000000000000..63c077f3b4b7e50d06bb9b3d5f1fca35518f0b6f --- /dev/null +++ b/Simul-Robot/k002_episode_002170/captions.json @@ -0,0 +1,23 @@ +{ + "caption": "The robot's left hand picks up a small dark reddish-brown foam brick with round holes on top, lifts it off the counter, carries it over, and places it inside a square green box beside a green figurine on the wood countertop, near a green trinket dish, pink candy, and a cookie tin under warm kitchen lighting.", + "structured": { + "targets": [ + "dark_foam_brick" + ], + "placers": [ + "square_big_box" + ], + "primary_object": "dark_foam_brick", + "n_objects": 2, + "hands_used": [ + "left" + ], + "scene_hint": "kitchen countertop", + "map": "k002" + }, + "legacy_prompts": { + "view0": "The robot's left hand picks up a small dark reddish-brown foam brick with round holes on top, lifts it off the counter, carries it over, and places it inside a square green box beside a green figurine on the wood countertop, near a green trinket dish, pink candy, and a cookie tin under warm kitchen lighting. The camera is static.", + "view1": "The robot's left hand picks up a small dark reddish-brown foam brick with round holes on top, lifts it off the counter, carries it over, and places it inside a square green box beside a green figurine on the wood countertop, near a green trinket dish, pink candy, and a cookie tin under warm kitchen lighting. The camera is static.", + "view2": "The robot's left hand picks up a small dark reddish-brown foam brick with round holes on top, lifts it off the counter, carries it over, and places it inside a square green box beside a green figurine on the wood countertop, near a green trinket dish, pink candy, and a cookie tin under warm kitchen lighting. The camera is static." + } +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_002170/labels/objects.json b/Simul-Robot/k002_episode_002170/labels/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..a2bbc181ac33b3e1a1c1436b6e4aa7f03423f16a --- /dev/null +++ b/Simul-Robot/k002_episode_002170/labels/objects.json @@ -0,0 +1,2975 @@ +{ + "schema": "vpm-worldbench/simul-robot/objects/1.0", + "id": "k002_episode_002170", + "notes": { + "index_range": "[start, end) into the N points of tracks3d.npz (objects first, then the 512 robot points)", + "bounds_cm": "mesh-local AABB [xmin, ymin, zmin, xmax, ymax, zmax] in UE centimetres (left-handed mesh frame, before scale3d)", + "pivot_xyz": "actor pivot per frame (T,3) in the unified world (m, rounded to 1e-6), from visibility.json target_world_cm; rigidly attached to the object's points", + "motion_cm": "vendor meta.objects.motion_cm (its own definition; not the max point displacement)", + 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"occluded_frames_per_cam": [ + 2, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "dark_foam_brick" + }, + "hard_thresholds": { + "hard_blind_min_frames": 30, + "hard_all_blind_max_run": 0, + "hard_blind_min_displacement_cm": 5.0, + "hard_occluded_min_frames": 20 + }, + "relabeled_260917": null, + "relay": null, + "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json." + }, + "dropped_non_english_fields": [] +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_002170/sample.json b/Simul-Robot/k002_episode_002170/sample.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3981fbb8b9915fb18d16bb71d916ca03a5f750 --- /dev/null +++ b/Simul-Robot/k002_episode_002170/sample.json @@ -0,0 +1,230 @@ +{ + "schema": "vpm-worldbench/sample/1.0", + "uid": "Simul-Robot/k002_episode_002170", + "subset": "Simul-Robot", + "id": "k002_episode_002170", + "source": { + "dataset": "HyperWorld-Bench-Robot", + "repo": "hf:rooty2020/HyperWorld-Bench-Robot", + "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147", + "id": "k002_episode_002170", + "sequence": "/PickAndPlace/KaistWorldModel/Kitchen_002/LevelSequence/episode_002170", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_002/Kaist_kitchen_002", + "generated": "2026-09-12 02:38:04" + }, + "n_views": 3, + "n_frames": 241, + "fps": 20.0, + "duration_s": 12.05, + "views": [ + { + "name": "view0", + "video": "videos/view0.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam00", + "role": null, + "static": true, + "hfov_deg": 93.0, + "motion": "static", + "source_rig_name": "pnpcam00" + }, + { + "name": "view1", + "video": "videos/view1.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam01", + "role": null, + "static": true, + "hfov_deg": 100.5, + "motion": "static", + "source_rig_name": "pnpcam01" + }, + { + "name": "view2", + "video": "videos/view2.mp4", + "width": 1280, + "height": 1280, + "source_name": "cam02", + "role": null, + "static": true, + "hfov_deg": 67.0, + "motion": "static", + "source_rig_name": "pnpcam02" + } + ], + "world": { + "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).", + "units": "m", + "handedness": "right", + "up": "+z", + "origin": { + "kind": "table_top_obb_center", + "center_cm_source": [ + 1438.1453, + 12.3685, + 120.0 + ], + "table_half_extent_cm": [ + 120.0, + 56.25, + 0.0 + ], + "table_yaw_deg_source": 79.9999 + }, + "to_source": { + "note": "X_source = A @ X + b", + "A": [ + [ + 100.0, + 0.0, + 0.0 + ], + [ + 0.0, + -100.0, + 0.0 + ], + [ + 0.0, + 0.0, + 100.0 + ] + ], + "b": [ + 1438.1453, + 12.3685, + 120.0 + ], + "source_units": "cm", + "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Kitchen_002/Kaist_kitchen_002 (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).", + "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)" + } + }, + "files": { + "cameras": "cameras.npz", + "tracks3d": "tracks3d.npz", + "captions": "captions.json", + "depth": "depth/depth.zip", + "labels": { + "objects": "labels/objects.json", + "visibility_states": "labels/visibility_states.json" + } + }, + "tracks": { + "n_points": 1024, + "groups": [ + "object", + "robot" + ], + "visible_outside_frustum_dropped": 5, + "visible_dropped_by_reason": { + "near_plane": 5, + "image_edge": 0 + }, + "in_frustum_z_min_m": 0.1, + "default_report_group": "object", + "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.", + "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).", + "n_object_points": 512, + "n_robot_points": 512, + "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)", + "extras": { + "is_primary": "(N,) bool, points of meta.objects.primary_object", + "object_id": "(N,) str, object id of object points ('' for robot points)" + }, + "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)" + }, + "depth": { + "file": "depth/depth.zip", + "member": "{source_view}/frame_{t:04d}.png", + "view_member_names": [ + "cam00", + "cam01", + "cam02" + ], + "dtype": "uint16", + "unit_scale": 0.01, + "invalid_values": [ + 65504 + ], + "invalid_ge": 65000, + "valid_max_m": 650.0, + "planar_z": true, + "width": 1280, + "height": 1280, + "kind": "rendered (synthetic GT)", + "vendor_valid_range_cm": [ + 1.0, + 20000.0 + ], + "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur." + }, + "caption": "The robot's left hand picks up a small dark reddish-brown foam brick with round holes on top, lifts it off the counter, carries it over, and places it inside a square green box beside a green figurine on the wood countertop, near a green trinket dish, pink candy, and a cookie tin under warm kitchen lighting.", + "attributes": { + "difficulty": "normal", + "category": "indoor_kitchen", + "map": "k002", + "scene": "indoor_kitchen", + "scene_hint": "kitchen countertop", + "hard_k": 1, + "hard_target": "dark_foam_brick", + "difficulty_relabeled_260917": false, + "moving_cameras": [], + "task": "pick_and_place", + "robot_class": "GR1T2_fourier_hand_6dof", + "n_objects": 2, + "n_distractors": 6, + "hands_used": [ + "left" + ], + "primary_object": "dark_foam_brick", + "distractor_max_pushed_cm": 0.651, + "distractor_fell_off": 0, + "n_default_queries_at_ref_frame": 853, + "flag_details": { + "caption_both_hands_phrase": null, + "caption_placement_phrase": "carries it over, and places it inside", + "primary_end_speed_mean_m_per_frame": 5e-05, + "primary_end_net_disp_10_frames_m": 0.0001, + "clip_ends_mid_motion_borderline": false, + "primary_end_min_z_m": 0.0026, + "primary_end_hand_dist_m": 0.2594, + "primary_end_support_dist_m": 0.0023, + "primary_end_airborne": false, + "primary_end_held": false, + "primary_end_supported": true, + "target_win_max_point_disp_m": { + "dark_foam_brick": 0.46573 + }, + "primary_frames_invisible_all_views": 0 + }, + "flag_rules": { + "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand", + "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold", + "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)", + "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80", + "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)", + "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view", + "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)" + } + }, + "flags": [], + "files_sha256": { + "cameras.npz": "09040580adc8b222df065c5a72d128d52ce0d4b55d2a5d118ea8297f79f794d8", + "captions.json": "548480c29d2d2c70226a8319196159d52f227d509facb0d1e0ec69c2b57dd168", + "depth/depth.zip": "abdf54608369c00938242338a46713d2dd7436fa6e844b9e637ae8ead48ac9f0", + "labels/objects.json": "3559731f8ae8a991bb61e028af9259dfa3c3a171d8176a4cf49e78c288ceb6e8", + "labels/visibility_states.json": "6f74c02b1680f065a8e3cbcd8e50ec49b0ec2b01fe591a5c9de54913253a9740", + "source/cameras.json": "9853987bc7c1b94b00662e6e59c32118d49c712b511d14e1b7640a8ed6697c4a", + "source/caption.txt": "9fdd8e98b571522f101b35f68be25f84557433bb67b5520890f2cd7dc6d9b636", + "source/meta.json": "22add3f18f9cef5f3c24b81e2e68a09b5fbacd53ffe3967e41126a5bc9034d4b", + "source/points_target.npz": "0d163b11f62f7d0921a89f3b2a049d9225ff8311055dab0807e6ec8853183142", + "source/visibility.json": "db3aaed2e8017caadd85ce5a8f779e63fd7d1d9fcc0746f14f406dc2563b345a", + "tracks3d.npz": "9eb485b74f6e91c429fee32a06214a8062313a0e56110795ea719ed711c7e12d", + "videos/view0.mp4": "2cdcaf8887d6ad057045ca216c136f265aec1752beef0880b5f98b2a3aa418aa", + "videos/view1.mp4": "61885920253add0f57feb71b250fe0d4c6724ec3b7da8ed2fbe00e9afd6933fc", + "videos/view2.mp4": "b7fe2f816d9c7e5c0d8012b2cbce2b5b6a7588a800eaa66c77a4724a845e0d2c" + } +} \ No newline at end of file diff --git a/Simul-Robot/k002_episode_002170/source/cameras.json b/Simul-Robot/k002_episode_002170/source/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..49be160880338663a3a4a5077549805e717fceba --- /dev/null +++ b/Simul-Robot/k002_episode_002170/source/cameras.json @@ -0,0 +1,26213 @@ +{ + "schema": "pnp.cameras/3", + "clip_id": "k002_episode_002170", + "map": "k002", + "frame_count": 241, + "fps": 20.0, + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.", + "cameras_data": { + "cam00": { + "name": "cam00", + "source_cam": "pnpcam00", + "intrinsics": { + "fx": 607.3373737373737, + "fy": 607.3373737373737, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280 + }, + "focal_length_mm": 11.2737, + "sensor_mm": [ + 23.76, + 23.76 + ], + "convention": "opencv; +Z forward, +X right, +Y down; translation in meters", + "moving": false, + "max_loc_delta_cm": 0.0, + 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a/Simul-Robot/k002_episode_002170/source/caption.txt b/Simul-Robot/k002_episode_002170/source/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..eca890c2e5e8118971d1fbc66925159ca6096787 --- /dev/null +++ b/Simul-Robot/k002_episode_002170/source/caption.txt @@ -0,0 +1 @@ +The robot's left hand picks up a small dark reddish-brown foam brick with round holes on top, lifts it off the counter, carries it over, and places it inside a square green box beside a green figurine on the wood countertop, near a green trinket dish, pink candy, and a cookie tin under warm kitchen lighting. diff --git a/Simul-Robot/k002_episode_002170/source/meta.json b/Simul-Robot/k002_episode_002170/source/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e967a87edbd3864c0abd410bd0eefc8083f51f8 --- /dev/null +++ b/Simul-Robot/k002_episode_002170/source/meta.json @@ -0,0 +1,371 @@ +{ + "schema": "pnp2.meta/1", + "clip_id": "k002_episode_002170", + "map": "k002", + "map_asset": "/PickAndPlace/KaistWorldModel/Kitchen_002/Kaist_kitchen_002", + "sequence": "episode_002170", + "source_sequence": "/PickAndPlace/KaistWorldModel/Kitchen_002/LevelSequence/episode_002170", + "robot_yaw_deg": -10.0, + "fps": 20.0, + "display_rate": [ + 20, + 1 + ], + "frame_count": 241, + "resolution": [ + 1280, + 1280 + ], + "cameras": [ + "cam00", + "cam01", + "cam02" + ], + "source_cam": { + "cam00": "pnpcam00", + "cam01": "pnpcam01", + "cam02": "pnpcam02" + }, + "hfov_deg": { + "cam00": 93.0, + "cam01": 100.5, + "cam02": 67.0 + }, + "focal_mm": { + "cam00": 11.2737, + "cam01": 9.8805, + "cam02": 17.9487 + }, + "difficulty_attempt": "normal", + "difficulty": "normal", + "hard": { + "hard_k": 1, + "hard_reasons": [ + "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [2, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)", + "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.01, 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" + ], + "hard_metrics": { + "num_cams": 3, + "frames": 241, + "per_cam_blind_max_frames": [ + 2, + 0, + 0 + ], + "per_cam_blind_run": [ + [ + 211, + 212 + ], + null, + null + ], + "per_cam_blind_displacement_cm": [ + 0.005, + null, + null + ], + "all_blind_max_run": 0, + "all_blind_runs": [], + "all_blind_frames": 0, + "occluded_frames_total": 2, + "occluded_frames_per_cam": [ + 2, + 0, + 0 + ], + "union_visible_frac": 1.0, + "min_visible_cams": 2, + "target": "dark_foam_brick" + }, + "relay": null + }, + "seed": 2118942397, + "randomization": { + "scope": [ + "lighting", + "surface", + "camera_jitter", + "distractors", + "arm_contact_quota" + ], + "sun_scale": 1.0, + "sky_scale": 1.5, + "spot_frac_on": 1.0, + "light_roles": { + "SpotLight6": "key", + "SpotLight5": "fill", + "SpotLight7": "fill", + "SpotLight3": "fill" + }, + "surface_material": "/PickAndPlace/KitchenAssets/Materials/Wood/MI_wood_oak_aar", + "camera_jitter": { + "cam00": { + "dist_scale": 0.9428, + 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