Add files using upload-large-folder tool

Simul-Robot/c001_episode_002590/sample.json

@@ -222,11 +222,11 @@
   "depth/depth.zip": "8f57e12e842bb1122632249d67dadfdfa3cc9bdca08bf07a57afdd7c73096141",
   "labels/objects.json": "6d94f5ac0b0d351d06f0c42fb60dbc068c6ae7c3991d942324ae8b2201a9847b",
   "labels/visibility_states.json": "90cb4085f5425b98c06bfb80cb4d7c0362016482e9deb8474664247a2744cb30",
-  "source/cameras.json": "7818881712128f575efcdcd076ed8537bd40a0d036c107b5e1d0869f24dcc4c6",
+  "source/cameras.json": "f57e5dc45c7fd08b569167cee6edc676f62d57420fc340a6afb09ebfc312f299",
   "source/caption.txt": "319eb974f7064e8f2a6fc034fd0b834ec784f4184d70252fe751344d039791d5",
   "source/meta.json": "6e9cf0ee2419f553dd99dd368fd4aee970e4b798692220099e63f8901cd56cab",
-  "source/points_target.npz": "2ce97407d42792d87b42f3b7cdc95c0da7ac5092e9fd05f20493dece5e8eadc2",
-  "source/visibility.json": "1fdb4eed68a08f44c8a97032eabfdaf70a0e80594b93750c5d9496eacea6c295",
+  "source/points_target.npz": "6e7df7fccc850989b4098db362cedd6139b30e742240208958e9cecd04633acb",
+  "source/visibility.json": "a09134a8cacaa721ae9f020547c82808e42ac6891b64e5462ef4753f553d7165",
   "tracks3d.npz": "87c6f53fd705d5ef452c65101e76c7f55a35e0e70c08ca7eff0cb99cc6b7a657",
   "videos/view0.mp4": "6c0fe9d8d99080205b30ff8865b9451e7e2c1697553d4e3f38254e004d883d88",
   "videos/view1.mp4": "16bb71e6b57077af2b80e027e2079a214c7693dfa57449ed65cee900e240ecfb",

Simul-Robot/c001_episode_002590/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_002590/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": {
     "kraft_coffee_bag": [
@@ -9345,5 +9345,5 @@
       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_002660/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "3c3d2195cdb225ea20c70bc57599edaa342d3308816c1875de3d844d6aedc67c",
   "labels/objects.json": "98eb85444f0622cc84215024b2f0d6c491a6296610f978579d0c56c28bb1bdaa",
   "labels/visibility_states.json": "ac7fd963280de9c673db015c964450195b08b6043b94dfd4a55c2fbae32bbb3d",
-  "source/cameras.json": "a2acd227b4567fda20230f7b89bfbfafe397a465794b84f710080f33d78c725f",
+  "source/cameras.json": "3154ea25c85afa15d06b170ce274353720e1c6fd6bf98831c88321d905536504",
   "source/caption.txt": "27860719a1ddec0bdab6feb6189c77ca15d48e9c025f0066de81e7adb1dd0a70",
-  "source/meta.json": "152ca58457d5db30096530226710e21b6604bd11e63f9777ef7a1987b65d8003",
-  "source/points_target.npz": "077c3c5558c1e8823713ee48632bc15196ef2a744394f61bc1554b5a23235b7c",
-  "source/visibility.json": "b1e64bdb600c336d3707b359873e3eb11a8076d561bddbb4d01723cd7fd4be11",
+  "source/meta.json": "29ac371253e0cea5a85afe8f5d413eddc05937c780dd618b6934af75cb7461fc",
+  "source/points_target.npz": "5a3d8b307ae3f007a0564a8ff5b8fcf7e6de7c99b69b70844248a52fc561df62",
+  "source/visibility.json": "92807b4493eae9e311fb94a40e88f6553446d562d25b4f2bd10f3a4f7e1f975c",
   "tracks3d.npz": "fcdb389638eba6ebd8ca4239d4ccd5b23e6a1cf57fb248dfe7ec5e3bd2a4bdd9",
   "videos/view0.mp4": "06731f6e8b45ecaa6c97a1d0ba6ebabb675fdf9872275b13e2ba4591d62726a8",
   "videos/view1.mp4": "537e06def5cf0235f0a320d19096e5e7bccfb087e2b5d27d75825f59de4f9bfb",

Simul-Robot/c001_episode_002660/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_002660/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_002660/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": [
@@ -6610,9 +6610,9 @@
       "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,
@@ -11000,5 +11000,5 @@
       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_002760/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "28bb25ed7cf31f887873a0e08aad59f87124ed0590e9d565780e709e5536366c",
   "labels/objects.json": "4d580d667df69397d6952b73c9b971da2ef71d019f2af4c9e9dbf8eff3b45756",
   "labels/visibility_states.json": "0e68715ffd883678e19f8d3daa62c9667a61925502adc8d411be7ecade6dd100",
-  "source/cameras.json": "f46782b84c5cfff7417c519ac7a16620459a18356e6929dac76949b691c270c5",
+  "source/cameras.json": "4811cbb681c42beff68519b0b33ae5c40a84a87be51949ca043244b92928f557",
   "source/caption.txt": "4fc336679d6a860b4030ccc81de0f0871ba460e7858d4e437c3deb3a29d917e9",
-  "source/meta.json": "344d98b240d80699d1b1fb4ad3722fb7b9bf2b8f58c000badabb7b0230516880",
-  "source/points_target.npz": "70192a5dc695e4bf1107f8cb57e747ecc426a1418325aa7aec2fbf64bd8da44b",
-  "source/visibility.json": "acfd6d38ec312b033519b30c47f33b92afac89b096e8aee92478f8198204c511",
+  "source/meta.json": "7c66576c3bb3d5df74058f0ea33b4f43f8e4fd74451b683ccb8f0ffdb675d174",
+  "source/points_target.npz": "074d94c75e276609e352cb7b183f53828b3394e352d01915fca6e860b16dac9f",
+  "source/visibility.json": "c7a0db4542c94a567da1ae216210075eb50b73a9288785a259518c07d1e18773",
   "tracks3d.npz": "c763ad5838c20e5cfac7d8f2467b2436025ffd67800c0365248cf43deb669a0d",
   "videos/view0.mp4": "ce17e62a427ef08b915ad6eb74eaa13d4bae90547f27277ed4b17004a433cfd5",
   "videos/view1.mp4": "f75dcc39295786b516fbb4e11cb7c65a382c8d40c20a0a9bf4dea15853efc831",

Simul-Robot/c001_episode_002760/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_002760/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, 1.56] < 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, 1.56] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002760/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": [
@@ -6883,8 +6883,8 @@
       "target": "blue_tuna_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 1.56] < 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, 1.56] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -11452,5 +11452,5 @@
       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_003020/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "1d709ebb250b95b09a0219cf26530abbc3e7c70cebb9357daa266ce396d595cc",
   "labels/objects.json": "734640d61bf52ac73c60b7c32b0d1c74335e72f58463281d7a4e08df879f763e",
   "labels/visibility_states.json": "52f115262fcc285b8a3716fd7efeb3d448a3fd7486901767f1ba8615a73c6b3a",
-  "source/cameras.json": "2f481ac82ad16032a1f3f8954c67e20c4728c11778bb7a9c49d63f96a189e24b",
+  "source/cameras.json": "af16357f22c5fd2ee706bce796e0acfd9c6fafc40baf8389f1ffcfb17afbc48a",
   "source/caption.txt": "7b94d0c3300d5651ea94183cf5d29e9eabf0b7cd3f05e0eea7c10bc941052d4e",
-  "source/meta.json": "5ee7dcbb477cdb2834b10e9cfd78b95cb84bef255d576fdb324ca28f19224488",
-  "source/points_target.npz": "16ac95977d5ce333dc4c8cf30de1084d02e318611bd44763d2ab7686349c8cf2",
-  "source/visibility.json": "97541b89f8ff8f22908a5e7aafb64a0887695d91f36ba9a4bc87254d1afe36fd",
+  "source/meta.json": "79faae92574a1fe766e14f6ad65c73573206232dbc00946dea83f5df49a2a289",
+  "source/points_target.npz": "b556bb31cfdb7215f9610eeaf0fa1987af1f415c65c552590086d25471ed798c",
+  "source/visibility.json": "d9f9f403549dfbb013153007e9a143fec95b5e3353c0f00a4542b86ab6227ac5",
   "tracks3d.npz": "ee31cf44906c9775703a28c5cdc3b3f8cab549a1a6c668d8d0d4ffbbe8cb29a8",
   "videos/view0.mp4": "c66e8420cc11b4d798b2a9c25113beffb1c96232efee6b8f3fe0e318d9937d30",
   "videos/view1.mp4": "437ed78fe5905161530f0393b5d7734033d587f2f41a604d811fd0100f20d896",

Simul-Robot/c001_episode_003020/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [2, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.1, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 4f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [2, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.1, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 4 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_003020/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": {
     "alphabet_soup_can": [
@@ -7633,9 +7633,9 @@
       "target": "alphabet_soup_can"
     },
     "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 [0.1, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 4f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [2, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.1, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 4 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,
@@ -12703,5 +12703,5 @@
       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_004150/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "a25521c86f3179b3a2ef506c10f9c1ae54bfee9b25796cfb27d8b3596acbd6a1",
   "labels/objects.json": "d3c3ddaaf196ce82081c1e9995e322d70b499324000c2c1b1ecca16d74181d83",
   "labels/visibility_states.json": "21ed55f47d3a0d75ea37e01eebf163721f92199ad18087dc531d159bc1436043",
-  "source/cameras.json": "c0fce344182870d80420c9aed361792f1f0d1bec012859eeef11f5fa92cad50d",
+  "source/cameras.json": "0a53eb09a2d3d6c93983d2a755bddb4d308c118a110455990a48216249344497",
   "source/caption.txt": "9a56ce81c9ad4e6ae678baa051bd3db6b6cca8a8341f525c3192a8fcf715aaee",
-  "source/meta.json": "5c02e6e2829c1eec1109da9cf9be9eb79264fd72879d4ced4718287c7714846f",
-  "source/points_target.npz": "ddfa411d8b27971f519bed3500965675abb5b06ed86ccbf28f42002bc78eaf07",
-  "source/visibility.json": "6b7b30e742bdc7e16a8083c237e3ac0d53b19571fa7db2276b5dcfb74ddea0df",
+  "source/meta.json": "73664a16265e3e54dbaf3ba38bdf816407d6f420d0d53cab7698f40912ca8114",
+  "source/points_target.npz": "2fe9a92789b4633ee0c6437812a712076dfd3eef0b77314145a923367e2b86e5",
+  "source/visibility.json": "dcfcd8967c5d8595a73baa55f6d8da2c13acf6228eabbee17bdbcb160003cdc0",
   "tracks3d.npz": "4590a5719228fde91cf4fa6ff5fbf5053460516c5404659fc442479ba0721da4",
   "videos/view0.mp4": "a6b8d0998906f0d1ae282f9b668bd03996c89b45825a265f5ce7f646281502ed",
   "videos/view1.mp4": "e4c0a1036dc67b0d074c9ab52d0634a7e935b187f628dc874ca4377e7ca82bed",

Simul-Robot/c001_episode_004150/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_004150/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_004150/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": [
@@ -6550,9 +6550,9 @@
       "target": "potted_meat_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 0 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10900,5 +10900,5 @@
       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_004660/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "c14c1b95e3050e1d06a22c20c32ab5c3d6e6ef0ae0bb60884a93d4b6633f65b8",
   "labels/objects.json": "aee0e58ca8c51928007e7bd7e1e91178bc485d24aacd2e9850fce4a80995f315",
   "labels/visibility_states.json": "d74ec6f831812140ad8089f6dea5634ef68951282b80603de805e0e82654e5ce",
-  "source/cameras.json": "dda30915ba11c6c6660075fbb48776e941a92da6274bf4817e200534bcd38a43",
+  "source/cameras.json": "8baaa7621dfdf3f574155e21ff14bfe711d375454253db97b6f26001fb3394c3",
   "source/caption.txt": "b7670a5784f50a48c68226d2f4721fee40806aaa47cc60db7097ff24dfd63eff",
-  "source/meta.json": "0d379dcfbe4a1a7ddab8185a9f02bfc4bb305059061a8d19a258c761ada72c39",
-  "source/points_target.npz": "23a9fb8899c089e1ad09da0d98667a4e593b4c0f0a734a0f4492a9379a5212d6",
-  "source/visibility.json": "262e6bcbd9c89a9a670390f95db5aa3bd7e05e18d57f53239c6769c0cef10601",
+  "source/meta.json": "d34e9363fb4934d6b618429ee579df84b526520474d2adf6af8abadb36179df7",
+  "source/points_target.npz": "3b4a9a3eef2a41d6ed022328959ddbf0b30c733108de3b0bf9a7f50dca2f8796",
+  "source/visibility.json": "791fb90ae30ddb1a15eea1600fb4e55bda3ad594b7fe6f4bb01410d5d5568cff",
   "tracks3d.npz": "0301b04e3861aa0b9a89e8cee8c5add79b127e31daed1920a99e14d77f94675a",
   "videos/view0.mp4": "2360d1b1fd675db96638642e001553f0584eb5b425d308c15bd4d24cda883e9a",
   "videos/view1.mp4": "045576e1d7d7f368312f53d3df1849d8d373706de4a4d4618dcb117afdd6c488",

Simul-Robot/c001_episode_004660/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_004660/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 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: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_004660/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "potted_meat_can": [
@@ -5113,9 +5113,9 @@
       "target": "potted_meat_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 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: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8503,5 +8503,5 @@
       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_004930/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "7a746ced37dbc4dc821d5aba1eb963ff6d42575d8d8657b30262b73d6514fa03",
   "labels/objects.json": "72486c69f152fb3119fa1519e7dc54ac564932f4bbbf38f2eb03a6360e03030d",
   "labels/visibility_states.json": "a7be20483b17555693e731273c74855dc1534398d5becf8197980b539a2c2c8d",
-  "source/cameras.json": "7704cc6bff7de2c781434da1273ccb95c6b97e38c6cfa84ca217fb5be05f689c",
+  "source/cameras.json": "f84027216fd6591628c7b034127659d1e54366dded557bb6a264eea4689f834e",
   "source/caption.txt": "393a85e9179c92b8ca366943d83e1e5dca49e56b0a08cfbefb1c2d0c18d263e8",
-  "source/meta.json": "3bfdd4a53b158143b347bf69175b503feeff1ae55632dbb7ef45068276d23bd8",
-  "source/points_target.npz": "8254f629a23af85b591e16728e813285434a3a3fbf9e432d184a184f642a5adb",
-  "source/visibility.json": "e7d6fd292d2b12feffb502b97ca99d96dc300e390920678d3524ea8f67750af2",
+  "source/meta.json": "96eb2cf2994098db796155c3094dabeb32ac557eb52244348de6d001c44bff2a",
+  "source/points_target.npz": "f6ebf429e082c2ed49d536e90fc1d20065f5792f3f56cacb7c5f2a49a985cf02",
+  "source/visibility.json": "98ab8ac6268071d279037e4f17ef8eee999f660781802c98290dc35210d269e9",
   "tracks3d.npz": "58c07d02254fbd5f2601987e9f5c52563199c37a04c2987382926c31740f8b62",
   "videos/view0.mp4": "69198e27ca8103d558bc49f9b669fc4d8e57491c157a8355f8938433a3294d4d",
   "videos/view1.mp4": "3d53f12348678d66c7db87f7f550caa6fc57e0b5c76b9e76c6dc8cdfba9207cc",

Simul-Robot/c001_episode_004930/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_004930/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_004930/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": {
     "bbq_sauce_bottle": [
@@ -5590,9 +5590,9 @@
       "target": "bbq_sauce_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,
@@ -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_005090/sample.json

@@ -219,11 +219,11 @@
   "depth/depth.zip": "e2b65231ed1d7724b75162a8e5656003ed4f552beb2c0ef1c24cdb39bb023497",
   "labels/objects.json": "daea187ebf8239bcdf5008b93a22848dfe9e7234aa1c1b1f392b6df2aec2fd7e",
   "labels/visibility_states.json": "d5e60f9e404c43fb6330bc48e5cc0c22ea0386401ef94326ec647f6bbcc05a7a",
-  "source/cameras.json": "bc9f19cf2d4cd3637cade6a760b10ac924fb4c69945f744cb4c198aec62be31c",
+  "source/cameras.json": "f2040a274d37f66aeee0b486c8162f93d0eaf54cb275ea1b67da855628ca8b37",
   "source/caption.txt": "a17af15cc9052c202c217b55079463552d68f87ff5194b0915e590f6c08b5294",
-  "source/meta.json": "8b750d48884da2550b43a5e1e1ed93817a04e46c1409cd1b9efeaf6ca82607b9",
-  "source/points_target.npz": "7b70f3143c7c2666109620292c29745d33afffad8e4a8b2076510ed74d0e81ff",
-  "source/visibility.json": "2938070cada5ea0bb85f506e845ed13cb3513c57fe3efa2da81695198df845c1",
+  "source/meta.json": "61a266df5f980977b827f3189ef1daa9cfa8f1c808d2e1540af2fa53a2078c30",
+  "source/points_target.npz": "cb05ef55ff18a345b50304b83ea7eebd636e8c76c65e64f68d4850132f129748",
+  "source/visibility.json": "c6501bdc08316bbca57088003294c54c59e77c573f7c0c61d71d00414edfb65d",
   "tracks3d.npz": "4da6b570c0554fa50e9e819c8a2e3d4a6f3cd77770ec11a117a9a320e5fec18a",
   "videos/view0.mp4": "a9d910948d418bb51f3b33964f7232b9e392c4da2b2abc6a3345691d8fb266cf",
   "videos/view1.mp4": "d40a4977afa7c7aa7c0ee9edabd8f15882daab716c77c3dd300ae059d50dc2dc",

Simul-Robot/c001_episode_005090/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_005090/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [15, 1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.17, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 18f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [15, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.17, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 18 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_005090/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "blue_seasoning_shaker": [
@@ -13477,9 +13477,9 @@
       "target": "painted_tin_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [15, 1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.17, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 18f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [15, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.17, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 18 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -13489,12 +13489,12 @@
     },
     "relay": null,
     "hard_target": "painted_tin_can",
-    "hard_target_note": "타겟 2개 중 primary_object 로 판정",
+    "hard_target_note": "decided on primary_object (of 2 targets)",
     "relabeled": {
       "at": "2026-09-17 14:01:31",
       "was": null,
       "rule": "hard_label2.label(primary=meta.objects.primary_object)",
-      "note": "타겟이 2개라 최초 생산 시 판정을 보류(null)했던 클립이다. 판정 규칙 도입 후 나머지 클립과 같은 자로 재판정했다."
+      "note": "This clip has 2 targets, so its difficulty was left undecided (null) at first production. Once the decision rule was introduced, it was relabeled by the same standard as the other clips."
     }
   },
   "target_world_cm": {
@@ -23559,5 +23559,5 @@
       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_005210/sample.json

@@ -218,11 +218,11 @@
   "depth/depth.zip": "8d17dabda3f87dce4d0cf9b600672088339dfc4f7d6e0885b675c06056d09ee6",
   "labels/objects.json": "c27eb5a9f45d58cb4e3aa8788ae9d6fa1f2cee7749c31d1b66a845dfc22c34ed",
   "labels/visibility_states.json": "8a1a7183d70d5ba33a25844d0deab14168d08ba5ac553fcb58799a20d24f8055",
-  "source/cameras.json": "850a81a63705732d52e95513ba5594baeb0143d42934a78a715eb7e24b3df305",
+  "source/cameras.json": "d1fdfd217b4d4b532e8cc10f5ee711cb6244ea8bd7347fbdde89c9180f016b97",
   "source/caption.txt": "30f9895e183605217881521cc74627df39ff464a07e1edc54c75012fe67aac26",
-  "source/meta.json": "60f94c87ce148ac31cd249242ef1929a2471ea1499da2699ffae0c4494ef7be5",
-  "source/points_target.npz": "f42cbcad81f3f05a678ff0006312c220a645cf90768ec4b861cbdb2b34bbfb7d",
-  "source/visibility.json": "ec12d087a6fca9c19f21e0b03f3157fcb95fa508864905185b2edf5de2c4f62a",
+  "source/meta.json": "84501eb1c905db6a52fcfc0e4a1c90781cd60148c5e3fced4ebbd96bd74de581",
+  "source/points_target.npz": "c361eb1428b4fac86928c8b4c8a5c296419059f216068008499a06839af44bde",
+  "source/visibility.json": "f5127eb6a89f0e99ac67b332da0341144047b00dce25fcb6ca7324d5972e8dfc",
   "tracks3d.npz": "86db770d3c9049ccb6918294fca1332ee122e02980a3fb6889ab332ce53e713f",
   "videos/view0.mp4": "7664e8796ea0e0593dd7e3404a2ed35fe6acf066d0c4dab88cee7576b0a70ab5",
   "videos/view1.mp4": "d4ea038d08ea76e8a2c43d46c45844ec952c13194401f41945683520fd25635f",

Simul-Robot/c001_episode_005210/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_005210/source/meta.json

@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 2]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 2.19, 1.24] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 2] 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, 2.19, 1.24] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_005210/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "magenta_plastic_crate": [
@@ -15956,8 +15956,8 @@
       "target": "small_yellow_cube"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 2]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 2.19, 1.24] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01']: [0, 2] 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, 2.19, 1.24] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -15967,12 +15967,12 @@
     },
     "relay": null,
     "hard_target": "small_yellow_cube",
-    "hard_target_note": "타겟 2개 중 primary_object 로 판정",
+    "hard_target_note": "decided on primary_object (of 2 targets)",
     "relabeled": {
       "at": "2026-09-17 14:01:36",
       "was": null,
       "rule": "hard_label2.label(primary=meta.objects.primary_object)",
-      "note": "타겟이 2개라 최초 생산 시 판정을 보류(null)했던 클립이다. 판정 규칙 도입 후 나머지 클립과 같은 자로 재판정했다."
+      "note": "This clip has 2 targets, so its difficulty was left undecided (null) at first production. Once the decision rule was introduced, it was relabeled by the same standard as the other clips."
     }
   },
   "target_world_cm": {
@@ -27897,5 +27897,5 @@
       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_005460/sample.json

@@ -219,11 +219,11 @@
   "depth/depth.zip": "65f9998286fe009942bd6219dba9283fdfa3a75d0439c556ee191b546a73391d",
   "labels/objects.json": "9ebe3f26d5b02e5bbd3e979986e73d2957891381adf34295849ca6135004e36a",
   "labels/visibility_states.json": "5dc151bfb1a3143f292fae38f28c5a2d2609645a66f8bc058873e7edd4cdd58f",
-  "source/cameras.json": "21f73bf14f48fbd841737b11ee000bb73975a45019d64b4b52b3b260a8d9019b",
+  "source/cameras.json": "e88aefeb6465cab10ac91e4e63f4df1becae1b033d63c84d6345a91db49c8e36",
   "source/caption.txt": "550ee90f388c1469fb6f33b92eea93fe2904fdcd47488fc45618fd5a80145e32",
-  "source/meta.json": "1ac4cec9efecf3cdcf9405616896fc749adc2f4c3da718408b40df073ef8d712",
-  "source/points_target.npz": "a54f9ed13760e182a4e13110acfd7d397dd1fbf98ee1fef1621565a1e87a70e6",
-  "source/visibility.json": "4c83751a82c812ab6865fbda9fd04ba4da7555d50134f974596b0a74ddb2bdde",
+  "source/meta.json": "538523aed6d7a98414b65cf43034ac246e35f30a7c9324c46ff3ae3347136438",
+  "source/points_target.npz": "5263ea34e43208483eadf50615ed6c443633ab441bb007b1570a2536663db31f",
+  "source/visibility.json": "82297ae90011a1e542f1b129fedf4a13d6030c9ffe883d81d47aa2255275a1f5",
   "tracks3d.npz": "455a2ec2f28d299aed65f7f98d34cba9fb239df38b5a38872a915ed3a57c0d08",
   "videos/view0.mp4": "a89f83b0bb4d3ec05d746b165d56edb0742b00fd38775b86ba210cecb65e3115",
   "videos/view1.mp4": "7486becea642e2fbf62835aa455fcab7273cc715510eeed217e505486c62569f",

Simul-Robot/c001_episode_005460/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_005460/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [4, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.0, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 4f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [4, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.0, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 4 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_005460/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "blue_seasoning_shaker": [
@@ -15154,9 +15154,9 @@
       "target": "blue_seasoning_shaker"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [4, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.0, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 4f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [4, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.0, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 4 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,
@@ -15166,12 +15166,12 @@
     },
     "relay": null,
     "hard_target": "blue_seasoning_shaker",
-    "hard_target_note": "타겟 2개 중 primary_object 로 판정",
+    "hard_target_note": "decided on primary_object (of 2 targets)",
     "relabeled": {
       "at": "2026-09-17 14:01:56",
       "was": null,
       "rule": "hard_label2.label(primary=meta.objects.primary_object)",
-      "note": "타겟이 2개라 최초 생산 시 판정을 보류(null)했던 클립이다. 판정 규칙 도입 후 나머지 클립과 같은 자로 재판정했다."
+      "note": "This clip has 2 targets, so its difficulty was left undecided (null) at first production. Once the decision rule was introduced, it was relabeled by the same standard as the other clips."
     }
   },
   "target_world_cm": {
@@ -26496,5 +26496,5 @@
       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_005600/sample.json

@@ -218,11 +218,11 @@
   "depth/depth.zip": "ed077e40b3607d3de827a49af9195a26925e619762ca22c493ce6e0e772f4214",
   "labels/objects.json": "988217719a5ddd4f19783795f1b02ae5292d0c717ede9d11ab44afc12cb579a2",
   "labels/visibility_states.json": "9eeaf67645d49c2e5368479d46c7144018453742636b5c749264022986f6f705",
-  "source/cameras.json": "4370628758f52aedd40904b5b93dad63b801fe10a9d7d2f78c4c42c505564695",
+  "source/cameras.json": "0188ba1e362bc1664a0f39346d58930e3c4170b2e67e9a8922d92177d6734afe",
   "source/caption.txt": "ee5bafcd53397b4f72bf076b015015064647685eb6c14c2041130de799ac7ca4",
-  "source/meta.json": "f08db4cad7fa690a1cc18602666b82743334e24f0492443374daf81cbeadf3cf",
-  "source/points_target.npz": "d430025b4aab2aede3da4cd8b59dd8c12ee21d3482c94611ff18c908e90243d0",
-  "source/visibility.json": "a0e5a1937a31368703a34b874056dae44bd6a73871bc19f7eb10bfc5eaacace5",
+  "source/meta.json": "4754bafee347f11a6471d1432bec94dd0e4ab89f7e3b0e211da5f21d31480cc4",
+  "source/points_target.npz": "22163cb39d281c8f94f026411cd97cb3a2459cf7959a2a33f98773f460fa9572",
+  "source/visibility.json": "ae901721ec8d3b2fbf3f68a8312cc071d5836d66986a6c43f2659b734763354d",
   "tracks3d.npz": "7253daf5d4f38882562d203a8f2f2f565fee200b084c635fb7b2a11d5100043a",
   "videos/view0.mp4": "0a1368e20a172fa6893d43d043e3f7696477a7c1c482c36c1f56c2acceba72b0",
   "videos/view1.mp4": "88ad9a20f5f38fcd1409e243893bd8b697806081fd3d028cf71a32e15ae65c6d",

Simul-Robot/c001_episode_005600/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_005600/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [2, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.0, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [2, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.0, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_005600/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "blue_seasoning_shaker": [
@@ -15313,9 +15313,9 @@
       "target": "blue_seasoning_shaker"
     },
     "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 [0.0, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 2f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [2, 0, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.0, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 2 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -26767,5 +26767,5 @@
       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_005620/sample.json

@@ -219,11 +219,11 @@
   "depth/depth.zip": "7462abd61ab60dbcb9c86690f9f03253b106bd461125e4e709339863fe9c6242",
   "labels/objects.json": "5ea0e23ee7d688ee06f0b6d0d21fcdcf6c0b03206a2c1682981bd3e5dc91408e",
   "labels/visibility_states.json": "53535844ec222bb862be805f873a7ba83ca24faf37c375c1a99cea1ca8810fc3",
-  "source/cameras.json": "3350037d570b2d52503953b0eb3f4ec41511754ad7935360d8efaa2e81f601b7",
+  "source/cameras.json": "815864b3f9c5bb413ce75114d3148c884bfee06cd68a8714b0fb0e01cd69dff3",
   "source/caption.txt": "664a511ec5c97567b2a13762aa4d2469367889ba63a0e0a1f1779526f2831b96",
-  "source/meta.json": "7698c12f356c44d7933b5c9ed9fdc33b9732b742340786735773b812e4a891f4",
-  "source/points_target.npz": "f8d5fd5f90ee63cad984b1912c0c8d8d34e5c312bad65ecde51acb11b28f5932",
-  "source/visibility.json": "d6e3a3ca3e4ff3db3e7d015bc2de0b00c92f97df4d80b8bed973fb311d248d35",
+  "source/meta.json": "5288658c43e268bf0be8f9bfe27a3f5ba9a54f0aeb219624f187f6173dea3bbf",
+  "source/points_target.npz": "dc068b3f22a54b5039df6cdbcb9d7decc68175632d0d548e13ec65ce3052489e",
+  "source/visibility.json": "1d3b170772b7e803bb6183c1abe910361988d6008882ef46ec4b87d6ac030ba9",
   "tracks3d.npz": "5b0d21a07aadb723aa3dfbbaa6e343c512d1ff00405f31eda208e2b020c48106",
   "videos/view0.mp4": "9c2d4cb8037e10202085cc6228d47a8df12a29d09320566b203d44d9cb36e25b",
   "videos/view1.mp4": "5cb1507adf823eb344d2205ac9eb48ee51980e114b37f9f161031774ce3db022",

Simul-Robot/c001_episode_005620/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_005620/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [5, 4, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.01, 4.75, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 13f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [5, 4, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.01, 4.75, None] < 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_005620/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "art_deco_bust": [
@@ -16477,9 +16477,9 @@
       "target": "glazed_squirrel_figurine"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [5, 4, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.01, 4.75, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 13f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [5, 4, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.01, 4.75, None] < 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,
@@ -28801,5 +28801,5 @@
       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_005740/sample.json

@@ -218,11 +218,11 @@
   "depth/depth.zip": "80e649981f1887f19b2dadc6d08ca83a4f44e5f6487b70195d4f4c1a1bc68fee",
   "labels/objects.json": "88b8be806fd1e48923e2ef2c51eca0383c6fb1fb169d477d77e953c522e4e6cf",
   "labels/visibility_states.json": "bbbbefe419ec6dae00c4ca1aad9a847ee2eb2347e587f7d66cbb33f4c7d80c4c",
-  "source/cameras.json": "e38e3d92399304bcd4a54cdc736ccb1ab7776d392c4b09239ea0e7538d0efbef",
+  "source/cameras.json": "11212cf71cf498e27f2c9d5549fd3f210b877823fc6ce60b26902825632bd238",
   "source/caption.txt": "8cb9f8bd6903dfac44ca364f4203a7e32993c99b88918f90d26d53469785fb4f",
-  "source/meta.json": "976cdf155dfac27dc425ff8ee77a8683aae0ce42f50237cf04118b13f4bac13b",
-  "source/points_target.npz": "2d27bff94f8864166855a69c5374632341f22ee5fd89632eba9db333b37dbfdc",
-  "source/visibility.json": "2866848395b6679da175d5a0133be212256bc6e759c9ee4a23c6d5c1396ccdb2",
+  "source/meta.json": "4cd42ec1f7f9312a37efd80436bcdf2bc8666843c7cd5ce4572db49a2e200556",
+  "source/points_target.npz": "ee82913b2ea65c44cc41526ec9327aa831caa6c1c708e3879847b2298b7fd75d",
+  "source/visibility.json": "6385127247836b32bc3c52ab97f1299fc05821099c1ea5a767f34a3820478c58",
   "tracks3d.npz": "f3dfa8cc1724bc9645b708e90e2b5dddcce26008e5f8a535109563fecde7e43a",
   "videos/view0.mp4": "774ff751325ce372049e63614154312d21d00baddb7b00fd1c23f3e31ec4555a",
   "videos/view1.mp4": "8d242fb7fe2ab42f83393ce02ebe6c2a6186e2ecb3454550fdfec59a8fb53670",

Simul-Robot/c001_episode_005740/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_005740/source/meta.json

@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [3, 2, 13]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.42, 0.12, 0.05] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [3, 2, 13] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.42, 0.12, 0.05] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_005740/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "blue_seasoning_shaker": [
@@ -14199,8 +14199,8 @@
       "target": "painted_tin_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [3, 2, 13]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [0.42, 0.12, 0.05] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [3, 2, 13] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [0.42, 0.12, 0.05] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -24812,5 +24812,5 @@
       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."
 }