Add files using upload-large-folder tool

Simul-Robot/c001_episode_000000/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "ab33b93c4890ec2b8b62c5cde28124377ebd70ce2e5d5ccb355da2b9b8ea29b0",
   "labels/objects.json": "90c12e04f30944528bf61510e16af4c7a7a22e3057a65179876d19ee1cb746f2",
   "labels/visibility_states.json": "346d655a413bf618e2d2fdc77f1fd15072aaad2728a4bec8ad302b7a680aecd3",
-  "source/cameras.json": "48d6761d6163cf27ff2e0208f7eb0fb2002b36c1c9b8f8c596d1aaf5d0e00c3e",
+  "source/cameras.json": "5b86455279665283aed35557ca529cbf9a66e7d75876a14395ac3406d4cda9b9",
   "source/caption.txt": "b0b9403d1cc417942a73a9fbb4458a890df4e6f548a441d71ae9911d55f6dc5a",
-  "source/meta.json": "24146e046a79b3331995068e968e02fee818cb14e60615f990fc283a0b901287",
-  "source/points_target.npz": "43d8b367f034a31f1270d151f7b15f58302fb9585a986a85eed2dd30007e6fbe",
-  "source/visibility.json": "11931ceb9d6fa93b6dcf71ddca0bfb35ee0d39b1884baa51ac81348876d2e3df",
+  "source/meta.json": "eff6917d5f420c9fea3fd6e015aa6034808f455b822598e7c2ea61923eb042d7",
+  "source/points_target.npz": "137e904dedde5ca378a8c77c76d8592f2293c84b82c403e2ac3b2a71fc1fb2d0",
+  "source/visibility.json": "d6f38dc8d018ad5df2659689617705ad1057115ec608ad185262fee99ce34d95",
   "tracks3d.npz": "aebcc6e6971a927498070fbb614b6b6cb8353f9761acd223e3602b7855945b0a",
   "videos/view0.mp4": "b8bbc23a9d67d405db5edac0f70734b1c1627bb0f1318a0f8359babde80df382",
   "videos/view1.mp4": "806459afd9146a156f782e7581e5ee8a441e7ca2f6805975c6a1a3bf77820ac4",

Simul-Robot/c001_episode_000000/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_000000/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_000000/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "small_yellow_cube": [
@@ -6700,9 +6700,9 @@
       "target": "small_yellow_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -11150,5 +11150,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_000040/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "2e95149cf05b152249dffe19149765943f6c1bc6e45f055d6f195af4ac5810c8",
   "labels/objects.json": "25e5239cdceae6fc9226b1627e51211c8c551ee5d3d3d2d493502533ce078cab",
   "labels/visibility_states.json": "3f5369b5bed128dbeceb2fff555f4a60cffb03ac07e303cd018916450aa5c29e",
-  "source/cameras.json": "ae2e38e66275c4a317260ac699e64c4f470b219375d8417324971adace1d3c04",
+  "source/cameras.json": "925e1bc1fb0b904fdda9d39f635f9820f777ab8b17b61b7088f0469de367314b",
   "source/caption.txt": "4e0ba0de03c5df18a2de250cdf1d44f5a11d7ba469d1d7f9e6ed5ac84698f0d3",
-  "source/meta.json": "b954be541650d8d63528bf84a5d2614333067141d8e8e48bb5657021d1fcb030",
-  "source/points_target.npz": "8562dc661899a9f747dde57b74471486115206e8e86518f5ab4976cb77c3d65f",
-  "source/visibility.json": "15e04e6fcfe0d8a77552548bdf4990e5aab22a12d75f1484ffb59915c05c50ec",
+  "source/meta.json": "c7b5b380541266c71fc736bb75190069ead8b3a6918b8680a9d96c9e1cf834d7",
+  "source/points_target.npz": "53855d7435a4f274facaf42cb0ce607db443a5f19914be9639ed5a0c84284763",
+  "source/visibility.json": "e818231ab35d73eef47094e3822b42d9b8fa18d86468fc0abd907ca8211ff2ad",
   "tracks3d.npz": "98855cc0221d7ba3adeeb051d449ec11d348cd024964af2f7a6c4fa3ae9da50c",
   "videos/view0.mp4": "11d4418dbc9b6451c95f1a8d1569915c9850f130816d2f421765cbdea7c51fea",
   "videos/view1.mp4": "413d4104a415894bfca9e0505f97d547048d8e274e9f80229aea00173678790e",

Simul-Robot/c001_episode_000040/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_000040/source/meta.json

@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 1.37] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 1.37] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_000040/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "small_blue_cube": [
@@ -5893,8 +5893,8 @@
       "target": "small_blue_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 1.37] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 1.37] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9802,5 +9802,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_000180/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "c9b2a640bbcbd03f405a28e6aabfd57c47d974b4d516575ee1cdc2ea9a0d279d",
   "labels/objects.json": "6de3a8cb64ea769bc105910630f6641553ccfd5ba49176cb34db781e5b31ca41",
   "labels/visibility_states.json": "90846339dd3d0e208e4b5c62cfa465df3897361eadecc3b50777f03dcc38f39d",
-  "source/cameras.json": "5ac50d10aec1836dc2aca473d8ea1ea126e002afe994b934e3f06f2e957af7ab",
+  "source/cameras.json": "09c3b0e92cd91fc1836788302554b140c77bd54df3053acddef31005d3172f0c",
   "source/caption.txt": "f8b1481bd751417a286bdf06576b92f22eb6955c477eef19f7efff6f1b6ea9fe",
-  "source/meta.json": "9426351df6f680b5e22d0b18dd25d874cd71033dccf0b89f31929dec89f4cbfc",
-  "source/points_target.npz": "2779eaad4cce555ace6b49ae2b0a5527afc158a604445719b47ff46db5906a39",
-  "source/visibility.json": "5cc135286faddc58028b53b627361d5f1e1d02026b5dfab868e8363042dabc30",
+  "source/meta.json": "5b7d9c8eb2b4bea03357d7411c0075a6841efc17ff4e909eb45bf2c7a1f0ca83",
+  "source/points_target.npz": "57200f3cb72fe37a851a4e83227c9d825f7bb0a2a86a7b023e6c77feb7da3ceb",
+  "source/visibility.json": "298d31589d221cec48cab5bca420e33a74d6d7377702330bbb752a447d7ad478",
   "tracks3d.npz": "e9614f0704b9c92ae4f1a1193c6dacb0421d3825afb6799792c46c42abefe587",
   "videos/view0.mp4": "ea3ca616e508e0f749c09b374f88beaed714e7ec3e3cfa8db2f48566f4b0e7e4",
   "videos/view1.mp4": "6aa9ee37e11af86fa3e0c20a76571c190eebaa9aca729572b0596fcf079274a9",

Simul-Robot/c001_episode_000180/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_000180/source/meta.json

@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 16]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam02'] 의 비가시 구간 타겟 변위 [None, 2.01] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 16] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam02']: [None, 2.01] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_000180/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -8206,8 +8206,8 @@
       "target": "small_red_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 16]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam02'] 의 비가시 구간 타겟 변위 [None, 2.01] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 16] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam02']: [None, 2.01] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -13655,5 +13655,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_001910/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "8197247e51a06fe2f8a16c693046357a6a04e84d12c6408a6432490d28f077a5",
   "labels/objects.json": "530643ce61b10c7d2dfdf6861e10c0ff30d1cf168a7424a1ca90642c2c238f83",
   "labels/visibility_states.json": "7a34e1b0e47ac45634dae6286277928d1d68d5a6b3d852b9105f0b3be663f725",
-  "source/cameras.json": "207e6a1407830b6ca596803b8d6f208cdc727bab3168ddadd0e9d811eed5503b",
+  "source/cameras.json": "493a32ac749bd6520e609b99541ca45d3809fbec8d48ed3a231964b15e1da9a4",
   "source/caption.txt": "5e9a6ac953d8621bc24a7f9e2820ae95e4433946466b91f72a3e185adb75178a",
-  "source/meta.json": "76db76e49c8139c734a2b7d39434cd63e9dd91a769cc6d45fb50858e8054d6cd",
-  "source/points_target.npz": "fc1d62f63faa9f6f477f6e0f268ae60d2da6f81b97fef543773b8b91087549ff",
-  "source/visibility.json": "1db1b90328e2ddcad464849a6b9abc471b191f89b298e1de2bc6d29c2020c079",
+  "source/meta.json": "b35b8493dc48424024d87af7546721280aa47c2862a9423f07118576bc55fa81",
+  "source/points_target.npz": "3d4d5f17c528da2b4d63ebd1ab82f01410511b642536bdaba060683ef67db572",
+  "source/visibility.json": "dd53478f32a6a1c47bc5d9408dc113e4b9ffecd4250bb0d8b6dcf74e2aace4b2",
   "tracks3d.npz": "e5c49fdb3c6f73b21054f542774a83094f68dc2535353c21a47630c82d2eedbc",
   "videos/view0.mp4": "bc34432abd55f875edae4766e71be84ee1b2a5f92e59d3cf77594c144b7aa6b9",
   "videos/view1.mp4": "33a5f1505bff11b9317a32e6ac02b623b39e95c002cf823fb49366291a0fe5c3",

Simul-Robot/c001_episode_001910/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_001910/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_001910/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "cream_ceramic_cat": [
@@ -6130,9 +6130,9 @@
       "target": "cream_ceramic_cat"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10200,5 +10200,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_001960/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "ad18571db2bc4e84eeefead8223fd61a77268e562e154dcd27053ff74375ce3a",
   "labels/objects.json": "e3d2c66cb518a37216345ee3160f0cda5d10e56b90801e415c57d1121ee9ac3b",
   "labels/visibility_states.json": "9c7ddf78de49309e1ef1adaa13d96bf09ea80c40909f7c35a93307e8945e6b50",
-  "source/cameras.json": "0308df0d22a3349d453776fab0c8feea5d4d77d97de622fb2e89cecc70540cad",
+  "source/cameras.json": "4634e21a5201b6b49b2300d434669b471cb24752d72d33f6756cb63561ed22cc",
   "source/caption.txt": "a2924ffcc09249c4aa1c1512f410e401b9d92e81a54a7d88eacbd06d1932e038",
-  "source/meta.json": "a7c2acc492a93ac90ec8ce7f86ab5465e1cf105f171ae92fe2d3d71b5f60541d",
-  "source/points_target.npz": "1acb4c58b784c5b0ef94a56467cd8925b6484021c099de0375a191fb08b77bee",
-  "source/visibility.json": "7e0ef347848e89b1b1238ab1d2c35346896e6bc746498a488a3c819e5649e389",
+  "source/meta.json": "090d24025d3acc396af7bac2ad3048c2dd37639354870a7572285c4eb53a46e7",
+  "source/points_target.npz": "4f72f33e2d44ede0ecc6ad9d13fa2c1b778b880fc0a0ecf94d2383817737aefc",
+  "source/visibility.json": "f2df949bf101753511c43acb5881c2fec6fff7312e3170eca7a0ba5a9b8572f0",
   "tracks3d.npz": "238a2bea4d0824fd0f8a3bef041ec854f8196ae566a308f5d0a1a882e1626d3c",
   "videos/view0.mp4": "b1c5c9a7311958fcae6b1de917bea5745d655478030d61729ee4e32856a12cf1",
   "videos/view1.mp4": "2efeabf441cb8009f3d4eb605fd07b11bb146db33e60c90f7a3c28a636fd5240",

Simul-Robot/c001_episode_001960/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_001960/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_001960/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "cream_ceramic_cat": [
@@ -5380,9 +5380,9 @@
       "target": "cream_ceramic_cat"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8950,5 +8950,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_001980/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "1db691eb71365d819bcf2fc18ff12ae1ed02b9ced7fea5751d7eb316c1ca92e3",
   "labels/objects.json": "34eced3a5df2610c8868cde4f3ec3ddb34aa7f772650a6b9ed537969a4725909",
   "labels/visibility_states.json": "9dc490bc77b060883382dcea75d5c7783daa0617be7e6af90c1704e41953c49e",
-  "source/cameras.json": "b7b15b06bc9d1345174cb6e713fec881ec2ddc66048cd9b30808b08bb6a1c91d",
+  "source/cameras.json": "94b294794f3e1d21ed141de5b940d03025cafd059a034aa9e50f9d3099f64561",
   "source/caption.txt": "9ac05c3bb76b4205b216843200312e16b9f16e64bea9986461e48c7582c07e3c",
-  "source/meta.json": "6b7dd43f24504fa65c114a7a2d3d5aec40c0416385f58728cf5c91505b830a94",
-  "source/points_target.npz": "ad59bf28c8a5b717f9854245f1b1163085900f73129a7f094fa0f3907ca3517c",
-  "source/visibility.json": "772af1295373cc306f018f30ae1f5e20b20f796655ef3caf25d0c537ee8b64ff",
+  "source/meta.json": "ddc856dabb4197424a4107513fc647bbf9a73c7ec94014465959b2a304eb8a4c",
+  "source/points_target.npz": "f1bc41e9bc74edfab4dcaf2ab89cf774d8c28f30f0e685c465adafa12e8aa563",
+  "source/visibility.json": "c85e27548dd5fe167546453060ff7d0eb5c065a439eaf30a71c33350dda01c00",
   "tracks3d.npz": "f907daf79257e88025d0162d4bdc7639a414fe562c22f36047e03bfbc1abdd4e",
   "videos/view0.mp4": "a9f9b82a5c43b57efb8212da8b75da21585df5856a3437e50dc5f4c62d83229e",
   "videos/view1.mp4": "de808c66b38967d2e26a9a19e1451a6d679aa2d870e261da732026f091941604",

Simul-Robot/c001_episode_001980/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_001980/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_001980/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "cream_ceramic_cat": [
@@ -5590,9 +5590,9 @@
       "target": "cream_ceramic_cat"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9300,5 +9300,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002190/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "f768f58537c1816663b8955e6e63dc9faeb993231b425950b3848f0a8ed5cd64",
   "labels/objects.json": "0296b1f062f94c52ae50beccfe5b507e956d0e6c32544b32baae50e1acb7b58a",
   "labels/visibility_states.json": "e72b3cc16ff75d0d8753615536ad74dcced8df23325e4c63a9132e959fe4e16c",
-  "source/cameras.json": "c33321597e87081b95ddcc8324ba0b51c1d91788cb32cd00df7431384a3753c6",
+  "source/cameras.json": "50ee4aa0b204235b18b6939f34b808ce8f957e7911cd36a7237576f35db5cf63",
   "source/caption.txt": "d17866f3c2ad0556b1dea3dd7666010dae72751b2ec1cbc505922ac9d965f14b",
-  "source/meta.json": "6d478d327046b23ffadb2f829d6acb5d53b6b3db379b567c2a061268872684a0",
-  "source/points_target.npz": "1126e12fb72119575798ac21de7c3d1d5c9a84df37606815312c4e5a86c71e78",
-  "source/visibility.json": "673b0c147078d6dfb69d6cb359617c865cc098f5c0886709abca2cce7c857ddf",
+  "source/meta.json": "6e880ad23e625b8f3857193a717eeac561ad49e5578499ecc419f0118357b48c",
+  "source/points_target.npz": "e5449bdfa25da6c6f91a9e563101481ab40747373770af0cdaa363572ba4ea68",
+  "source/visibility.json": "cd779846f5e625062e6cc18a3166af93fe173173b1e98663d59cfc41c6a8c80b",
   "tracks3d.npz": "0f26916716429ab62d41046084eb60e2663b96e4c535f97f0eb25f496368835c",
   "videos/view0.mp4": "df59c30723fedefbbbb1839e91d36769a40ba68e53b907bf20c51531aac9b8ad",
   "videos/view1.mp4": "7fa9fec50766ecc239c6986f027f49594e39537430e4df0b4f70dc63395533c9",

Simul-Robot/c001_episode_002190/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_002190/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 12]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 0.3] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 13f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 12] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 0.3] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 13 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002190/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "dark_foam_brick": [
@@ -3103,9 +3103,9 @@
       "target": "dark_foam_brick"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 12]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 0.3] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 13f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 12] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 0.3] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 13 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -5153,5 +5153,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002240/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "d1b3201a16eae1076bb50cf859c56ce7b48007ca2b2a79fdb799ab9b8ed2c057",
   "labels/objects.json": "1dd4b90583f93b13e119f3b39af1727598852f544d1e4646de01bf0951ececdb",
   "labels/visibility_states.json": "c9132420419de0126180fd10ae215390467953f0ebc930a80fe6ccc937a06fcb",
-  "source/cameras.json": "3502b668a0268c851ca85cc9714eddad7f8592e7d764c604a563fba731a976ce",
+  "source/cameras.json": "c0067e63f101d6cd34919d7ebe54ab3e42d808c0cb2b4aec1cdac5a15e5ada32",
   "source/caption.txt": "ce61f55bcebc32b15bca8d956e3aa7717450b76447cd05481ebafe1767c147f2",
-  "source/meta.json": "c9aa549f21a3b63fb88dad6af3239524905a86e49165f11d440fa5d176981676",
-  "source/points_target.npz": "2a211a069b76a4a57db3bd9d4b2868b22f31488388bf57e0492d8d43919aaa00",
-  "source/visibility.json": "9ca9ff83fb25834f512e9c985bfd661c09628303e7461cb2e9a1ca1023fa0f4d",
+  "source/meta.json": "8f899f6e942336057f13880e0d201fa075569ebd1c8097d9bff0031bb409507c",
+  "source/points_target.npz": "60f36b5ee7c6d052b101be183c987d88ddd511af20328445004e8f8948a23974",
+  "source/visibility.json": "578c290599152dad692049640a7915387337238ce42915bbbdf069b7b8ea296b",
   "tracks3d.npz": "b1a09fe04af40cce4d721b086ca3010ba75ee1a6d6a785b193b26f239968f5fa",
   "videos/view0.mp4": "2718b4bd3e77893dd283190f5f2553f667b0faa265d464ed96d877b30c1432bd",
   "videos/view1.mp4": "26cd76fa1afca0b75c459d06303649ed0b19ba0608bc1bfc909231f6db616c7b",

Simul-Robot/c001_episode_002240/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_002240/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002240/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_milk_carton": [
@@ -6190,9 +6190,9 @@
       "target": "red_milk_carton"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10300,5 +10300,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002250/sample.json

@@ -219,11 +219,11 @@
   "depth/depth.zip": "ea0d811b34e7b8d286a31d897800960ffee0663e0579af0922acc6daa0e43db6",
   "labels/objects.json": "7e8e4d87f3ddbaa3a0b5d3183f2865b74f9c65f5bfbdb23d825a46272b0912b2",
   "labels/visibility_states.json": "a8072e7bd9e0ef30dccbd1080fce0657a2b1402cb5901d5e691826f8bcc7cd55",
-  "source/cameras.json": "426457342dfeae8c08fc7bc42983692c969f208fb943e1f8e32e6451e7b08cf7",
+  "source/cameras.json": "f2591391052c73037f4bd019f7cf6dc8fb720a4c1ddd192dac1fec666f3316b6",
   "source/caption.txt": "0f95d19299add8a71254aa95b66812681e956c5c2bb9694e664c52e07533192f",
-  "source/meta.json": "63ad28ac7f5cf5eb2a0521e9b6b3739dbd57078250a58c4587c8b65eccdcbbc6",
-  "source/points_target.npz": "5151d420555084af872a9808d33dd2078834638ee878201bcd382f4129b5783b",
-  "source/visibility.json": "2b465bd6ea7a96478faacc5bfd704e1a9c150c070279053dcdecf361c8429c85",
+  "source/meta.json": "cb73e5874fd0b7af719260def45c98ab40068ca3b17fb665eb60cfed1fb39f93",
+  "source/points_target.npz": "e050c859204e0021b6ad3b706c1725ca6bb60608c836010c1e5d2f3aac302870",
+  "source/visibility.json": "db080002df5ae4bae32b3ba02fb3b5bc8f01d06c2d486f643d7df735f256404a",
   "tracks3d.npz": "20051439cc58e209e29996b2807cd1a878a3c86a97e5a54fc78bfc13f95d7121",
   "videos/view0.mp4": "77efce217a7cc56177d0c9d5249eb41bf286972ac2e749ffdce74bd56c555ddd",
   "videos/view1.mp4": "3be1a82d8122078029329610b86294e2ab6a57ede270189801d10c71533cb1e9",

Simul-Robot/c001_episode_002250/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_002250/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002250/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_milk_carton": [
@@ -2530,9 +2530,9 @@
       "target": "red_milk_carton"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -4200,5 +4200,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002260/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "2511c3457dc8d5f0bb0fc77b169673d8d08915c5741fe456bbecbeb06b3eca47",
   "labels/objects.json": "3fe9c832b6a6a183dc2398555aa712b5dcd5370e2357bb20e72c23537dcd6275",
   "labels/visibility_states.json": "22f4061ca7248d44ee8252beee8c7d144685524553b293b45d0bf8cabd417601",
-  "source/cameras.json": "e17d7826f3614ac516c9cac0a5d07555e5f935b77356d8539f4546a11fe1af50",
+  "source/cameras.json": "b4a5aa7903a4d32b50a5f767e5eeaba2bc2ef0b54dec847245599d535c9e58a4",
   "source/caption.txt": "028e3f6db7b77b98796e7aee46b116e4d303f4f8240c3932a629c7d7095e87d2",
-  "source/meta.json": "fe42e5852068b8ebbc1d4dd7738538fe78a4f63c207c23ec3cdeb7f21ae7506d",
-  "source/points_target.npz": "69eb5609986d8620ff199d1febc881ac75ac58294aad15e66675803297e8407d",
-  "source/visibility.json": "28a05cdf80fe1eea95357e2dc1952552bfbb1583d7497c01a8c90d22a4aa34a9",
+  "source/meta.json": "0636eced933af49bc764b45b3c96cc3060f79e5068a10b4e6488e4f38ab48185",
+  "source/points_target.npz": "d05818b67883c5bca2425767fb3f843912831641f39b4c33f76b2f426f8780b3",
+  "source/visibility.json": "232d3d345d5825e0de57b73acf6d5b3ab6d5db90285e23ecc11e158b68049844",
   "tracks3d.npz": "bee3b75b25cf5f19837f3d727cb90c4c582879069a7c403bc371c4db9c994abb",
   "videos/view0.mp4": "c9647d8351e4c6c7a3e8184e4276ef3c64f6451d3c3678a3c3fd96af48ec34fa",
   "videos/view1.mp4": "9c11c7f1c763b659e0a6f51cc5b1f3af1e1b2adfc34ca2ac0be7ba8b3971e4da",

Simul-Robot/c001_episode_002260/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_002260/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002260/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "ranch_dressing_bottle": [
@@ -7360,9 +7360,9 @@
       "target": "ranch_dressing_bottle"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -12250,5 +12250,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002270/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "7218240cc585bc47ad6b6d4f63d5fa6a814f45d3a118ffb7f2cf9ac9b0b0235e",
   "labels/objects.json": "d507b9174ce154cc379fee2de48d61a67c33c502019e7c5642c1c17e2d9ac8d9",
   "labels/visibility_states.json": "41033b806a390774c0555897178f18cb9ac7e16a755a62de42a133da61d44459",
-  "source/cameras.json": "3d805d895e0334c07d252ea3143527bad89417cc781da720da23b076c1f42c73",
+  "source/cameras.json": "d522700f34060eb147c017b66745d97c20b2e4b2c1ebc0714761334de6d98aec",
   "source/caption.txt": "c25e86073b78d92a15b794b2c023241cfa3c6c9afba63464114a382a4a591fad",
-  "source/meta.json": "11a9e8eb4b6187b08c5a53b4199a0c71867394bd3ef756a75d4d8fba3f1def3f",
-  "source/points_target.npz": "6c4482fd060e815c2ed426dac893af6d2b05f5fa1f30b38830ee394587ffd6f5",
-  "source/visibility.json": "50bc264d1203cafadfa0345fd99ca279aaad0bb673bf47faaf1cbf82aa4885ea",
+  "source/meta.json": "fa0635048b3db2f8ea551b3e1709adbdfccaa2ab6a163b987be34f28dffad97b",
+  "source/points_target.npz": "c8557ee6fa8c188a3b5a9735e687c8586c86ebfb1a3f3e54d3f72ef2bad13225",
+  "source/visibility.json": "5d10982c7527e04baf692d7633e5a4d1cdc8f66607dbd788704865639192dbe2",
   "tracks3d.npz": "37d3de1939e04395a841398c45a77b3c685962ab87413eb7247d9c9bef956b20",
   "videos/view0.mp4": "8b8ce7f7c43b6784b225f7059f1fc6331be4c475e76da65f587681d321ccea4c",
   "videos/view1.mp4": "41e252ad2b28a53536721a1f4aa0c29b2ac5e030a6d00a446af35ab8594e28e9",

Simul-Robot/c001_episode_002270/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_002270/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [8, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [2.95, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 8f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [8, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [2.95, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 8 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002270/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "blue_tuna_can": [
@@ -7813,9 +7813,9 @@
       "target": "blue_tuna_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [8, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [2.95, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 8f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [8, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [2.95, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 8 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -13003,5 +13003,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002290/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "4e6fc8df14947505c6603f1947b2884ef8988c2d589f7ed88a2dcc1f5f3232aa",
   "labels/objects.json": "5387fe589149bd807682f7c3c59d8dcaaed127823a8a1e5942dd8bbcb49b083e",
   "labels/visibility_states.json": "3761551e34fe47b69dec9c6dbbc9ff8333984c4592c84e7f040e7a065a7fe6da",
-  "source/cameras.json": "69e3cc47099efdc4706dd0ba4ef52851d61cfbf0ef993b86029e75d173e5fa54",
+  "source/cameras.json": "6a7dd8b30298606063e4d1dfc23fe7714cc2b8ad77741dd6d5d0b87a0a64b507",
   "source/caption.txt": "db51146a6903bc959dc345bbc9b6f87e5f87d2048710ff9b1fbbf092145b8523",
-  "source/meta.json": "26cd3f50c5fb57d1c6cee5cdaa8bb41eb991a45dfb13c955b8426d4d8077d192",
-  "source/points_target.npz": "30a2e7d319ba84164a721be8c7999c5438242bc7d66fd8c884ec0b5b508e1b12",
-  "source/visibility.json": "3c2b282ba9c9b8834d82c8625eded298ca42f63aed5848e943abf6ba79a89af7",
+  "source/meta.json": "5a9db331d3ecdee5d6dd70de8c22f1523a0e410fdf18669384336b75b2b78cfc",
+  "source/points_target.npz": "7da41b7dfe4387d42aefb29417a18ea1faaa86f10eaa700ef070ecec647ff2e7",
+  "source/visibility.json": "6f470ad75e86cef51ebc63528c9974eb51a56eff334f4b3921c20a80cef1d4ee",
   "tracks3d.npz": "f82ac1424725831864d803b2f9b210b00b743f1e986e988f2ca621afbf55fc08",
   "videos/view0.mp4": "3cb68a1a0a810473a227f5f5fbe919eabe68603589d90257464b295b25d687b1",
   "videos/view1.mp4": "f625f80b9d8d9206a66da6f0b3abbe1334ec743dffc6c67eeafbed811e850f6a",

Simul-Robot/c001_episode_002290/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",

Simul-Robot/c001_episode_002290/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 0,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002290/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "granulated_sugar_box": [
@@ -6580,9 +6580,9 @@
       "target": "granulated_sugar_box"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10950,5 +10950,5 @@
       1.0
     ]
   ],
-  "note": "가시성은 렌더된 16bit depth 대조로 판정했다(ε=3.0cm). 카메라 3대 모두 프레임별 w2c 를 썼다. npz `vis_cam`/`vis_cam_robot` 과 이 필드는 같은 계산의 두 출력이다."
+  "note": "Visibility was decided by a depth test against the rendered 16-bit depth (ε = 3.0 cm). All 3 cameras use per-frame w2c. The npz `vis_cam` / `vis_cam_robot` and this field are two outputs of the same computation."
 }

Simul-Robot/c001_episode_002350/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "b44cefdabf8d19fa17b137682131482225af28c706a93ee7281f4b8567cf675f",
   "labels/objects.json": "9202166ea4c692f7acbbf5c167995e957cd42b7af919168dceaa0ac5082cc961",
   "labels/visibility_states.json": "488fcf20ed37e509c14a110634b8efb4b943ee4fba7c7f78a0e9ae9d42c47513",
-  "source/cameras.json": "3205aee91aa6566ea10bd1413381fef09f7f9d6b2ebdd9cdd142c57d1697df38",
+  "source/cameras.json": "22cc71c1f45154c2247ab6926e2222d99fef0f74b1791eacd79497352f6088c4",
   "source/caption.txt": "3bc7f0c72f07b56a87a918dfe6a501b0ed6f3c02ef984d2d2b0c90024995d678",
-  "source/meta.json": "a3fbff23b998493dabd536ca526d1ffcefb84de39a5a7f72131b5bcc9d4ccb0d",
-  "source/points_target.npz": "9d1078521a32b686027ae6481c6b3b8d254741c101d5fc423cf4509784a4f8cc",
-  "source/visibility.json": "fc3125953f7b99362a1ac232170646cc698dfd7b27c57defb912dbd49db3e9fa",
+  "source/meta.json": "576f26e3ee384cefa62320e42a2151a500f3d7328f88c47a9af9f359e5967cda",
+  "source/points_target.npz": "281fd07cd76e314b174c5a215c38e5fd977dabd5f7824adc57520be777704319",
+  "source/visibility.json": "db7de1c16016288aea6d98cde7d4a8b80082d050d1c6a2b2d9cf14e19f30c1e6",
   "tracks3d.npz": "8840d08d4cf7a8b24c29ab0ad86a5a3e40d868706cd50781c9d7927038dc9a1e",
   "videos/view0.mp4": "288ca08b93a318b6cbac641e8cbe63fb8784fc4e2ad3eec43d2715c33ee89b3d",
   "videos/view1.mp4": "43e57e67cc38957d08541bd5e149533a5d6b1ed5d2bf008fa512b2715e877c4f",

Simul-Robot/c001_episode_002350/source/cameras.json

@@ -14,7 +14,7 @@
     "cam01": "pnpcam01",
     "cam02": "pnpcam02"
   },
-  "note": "모든 카메라가 `w2c_frames`(프레임별)를 갖는다. 카메라는 로봇 base_link 자식이라 시퀀스 키가 부모 상대이고, 여기 값은 PIE 에서 되읽은 **월드** 포즈다. `w2c_frame0` 은 참고용이다.",
+  "note": "Every camera has `w2c_frames` (per frame). The cameras are children of the robot base_link, so their sequence keys are relative to the parent; the values here are **world** poses read back in PIE (Play In Editor). `w2c_frame0` is for reference only.",
   "cameras_data": {
     "cam00": {
       "name": "cam00",