Add v7 simulation assets: blender/cup

.gitattributes

@@ -119,3 +119,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/assets/eab30e56b62eb82c185fd601f73d28b3c948975ea427b250a5ce0ff58b2aeaab.stl filter=lfs diff=lfs merge=lfs -text
 150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/assets/f0a1e9860d36598beec63562a27f88733216cc7d8db9796274e381b5d90c362c.stl filter=lfs diff=lfs merge=lfs -text
 150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/assets/f5ce4a1ca6343fa73aac37e9ab1581224eae72b13e906592e253f5b9ff71b7e7.stl filter=lfs diff=lfs merge=lfs -text
+150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/assets/desk_scene.blend filter=lfs diff=lfs merge=lfs -text
+150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/assets/measured_cups.blend filter=lfs diff=lfs merge=lfs -text
+150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/assets/textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr filter=lfs diff=lfs merge=lfs -text

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/assets/desk_scene.blend

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8
+size 199649

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/assets/measured_cups.blend

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b1350ea0a701d335e4a10d3a4f62544a3c11892ff091d36531b50f6e504453df
+size 139918

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/assets/textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe
+size 6465492

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/camera.py

@@ -0,0 +1,40 @@
+"""Fixed camera-mount adjustments composed with native per-frame kinematics."""
+import math
+import numpy as np
+
+CAMERAS=('head_rgbd','left_wrist_rgbd','right_wrist_rgbd')
+
+
+def transform(position,rotation):
+    out=np.eye(4);out[:3,:3]=np.asarray(rotation,float).reshape(3,3);out[:3,3]=np.asarray(position,float)
+    return out
+
+
+def quaternion_rotation(wxyz):
+    q=np.asarray(wxyz,float);assert q.shape==(4,) and np.isfinite(q).all()
+    q=q/np.linalg.norm(q);w,x,y,z=q
+    return np.array([[1-2*(y*y+z*z),2*(x*y-z*w),2*(x*z+y*w)],
+        [2*(x*y+z*w),1-2*(x*x+z*z),2*(y*z-x*w)],
+        [2*(x*z-y*w),2*(y*z+x*w),1-2*(x*x+y*y)]])
+
+
+def camera_adjustment(spec):
+    """Delta is in the native camera's local frame and is identical at all times."""
+    if 'matrix_in_camera' in spec:
+        delta=np.asarray(spec['matrix_in_camera'],float)
+    else:
+        delta=transform(spec.get('position_in_camera_m',[0,0,0]),
+            quaternion_rotation(spec.get('quaternion_in_camera_wxyz',[1,0,0,0])))
+    assert delta.shape==(4,4) and np.isfinite(delta).all()
+    assert np.allclose(delta[3],[0,0,0,1]) and np.allclose(delta[:3,:3].T@delta[:3,:3],np.eye(3),atol=1e-7)
+    assert abs(np.linalg.det(delta[:3,:3])-1)<1e-7
+    return delta
+
+
+def fovy(spec,native_fovy,reference=False):
+    ref=float(spec.get('reference_fovy_deg',native_fovy))
+    aspect=float(spec.get('reference_aspect',16/9))
+    square=math.degrees(2*math.atan(aspect*math.tan(math.radians(ref)/2)))
+    value=float(spec.get('fovy_deg',square))
+    assert 1<ref<170 and 1<value<170 and aspect>0
+    return ref if reference else value

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/environment.py

@@ -0,0 +1,170 @@
+"""Adapt the user desk asset in an isolated copy; the source is never saved."""
+import argparse
+import hashlib
+import json
+from pathlib import Path
+import bpy
+import numpy as np
+from mathutils import Matrix,Vector
+
+TOP='Desk / 1200 x 600 x 18 mm top'
+DESK_COLLECTION='01 Desk - editable geometry'
+
+
+def sha(path):return hashlib.sha256(Path(path).read_bytes()).hexdigest()
+
+
+def bounds(obj):
+    points=np.asarray([tuple(obj.matrix_world@Vector(v)) for v in obj.bound_box])
+    return points.min(0),points.max(0)
+
+
+def set_table_height(scene,top):
+    bpy.context.view_layer.update()
+    tabletop=scene.objects.get(TOP)
+    if tabletop is None:raise ValueError('Missing desk tabletop: '+TOP)
+    lower,upper=bounds(tabletop);delta=float(top-upper[2]);changed=[]
+    for o in scene.objects:
+        if not any(c.name==DESK_COLLECTION for c in o.users_collection):continue
+        if o.name==TOP or o.name=='Desk / lower edge band' or 'tabletop support' in o.name or o.name.startswith('Crank /') or o.name.startswith('Desktop /'):
+            o.location.z+=delta;changed.append(o.name)
+        elif 'upper sliding post' in o.name:
+            length=float(o.dimensions.z);assert length+delta>0
+            o.location.z+=delta/2;o.scale.z*=(length+delta)/length;changed.append(o.name)
+    bpy.context.view_layer.update();lower,upper=bounds(tabletop)
+    assert abs(upper[2]-top)<2e-6 and np.allclose(upper[:2]-lower[:2],[1.2,.6],atol=2e-6)
+    return {'top_m':float(upper[2]),'width_m':float(upper[0]-lower[0]),'depth_m':float(upper[1]-lower[1]),'changed_objects':changed}
+
+
+def apply_overrides(scene,description):
+    """Baseline environment fitting only; these edits remain fixed in all episodes."""
+    for name,values in description.get('objects',{}).items():
+        obj=scene.objects[name]
+        for key,value in values.items():
+            if key=='matrix_world':obj.matrix_world=Matrix(value)
+            elif key in {'location','rotation_euler','scale'}:setattr(obj,key,value)
+            elif key=='hide_render':obj.hide_render=bool(value)
+            else:raise ValueError('Unsupported environment fitting field: '+key)
+    for name,values in description.get('materials',{}).items():
+        mat=bpy.data.materials[name];assert mat.use_nodes
+        shader=next((n for n in mat.node_tree.nodes if n.type=='BSDF_PRINCIPLED'),None);assert shader
+        for key,value in values.items():
+            if key=='base_color':shader.inputs['Base Color'].default_value=(*value,1)
+            elif key=='roughness':shader.inputs['Roughness'].default_value=float(value)
+            else:raise ValueError('Unsupported baseline material field: '+key)
+    if 'exposure_ev' in description:scene.view_settings.exposure=float(description['exposure_ev'])
+    bpy.context.view_layer.update()
+
+
+def lights(scene):
+    rows=[]
+    for o in scene.objects:
+        if o.type!='LIGHT':continue
+        direction=o.rotation_euler.to_matrix()@Vector((0,0,-1))
+        rows.append({'name':o.name,'position_m':list(o.location),'target_m':list(o.location+direction*2),
+            'energy_w':float(o.data.energy),'color':list(o.data.color),'size_m':[float(o.data.size),float(o.data.size_y) if o.data.shape=='RECTANGLE' else float(o.data.size)]})
+    return rows
+
+
+def prepare(source,output,top,overrides=None):
+    source=Path(source).resolve();output=Path(output).resolve();assert source!=output and not output.exists()
+    source_sha=sha(source);bpy.ops.wm.open_mainfile(filepath=str(source),load_ui=False)
+    scene=bpy.data.scenes['Scene'];bpy.context.window.scene=scene
+    for o in scene.objects:o.update_tag()
+    scene.frame_set(scene.frame_current);bpy.context.view_layer.update()
+    table=set_table_height(scene,top);apply_overrides(scene,overrides or {})
+    output.parent.mkdir(parents=True,exist_ok=True)
+    bpy.ops.wm.save_as_mainfile(filepath=str(output),compress=True)
+    receipt={'schema':'rssr.s1_heightfit.user_desk_environment.v1','source':str(source),'source_sha256':source_sha,
+        'derived_blend':str(output),'derived_sha256':sha(output),'scene':'Scene','table':table,'lights':lights(scene),
+        'baseline_overrides':overrides or {},'robot_or_cups_in_user_scene':False,'source_unchanged':sha(source)==source_sha,
+        'blender_version':bpy.app.version_string,'original_file_blender_version':'5.2.44','native_runtime_compatibility_reopen_pending':True,
+        'policy':'User authorized baseline environment fitting; per-episode augmentation changes lights only'}
+    output.with_suffix('.json').write_text(json.dumps(receipt,indent=2)+'\n')
+    return receipt
+
+
+if __name__=='__main__':
+    p=argparse.ArgumentParser();p.add_argument('--source',type=Path,required=True);p.add_argument('--output',type=Path,required=True)
+    p.add_argument('--top',type=float,required=True);p.add_argument('--overrides',type=Path);a=p.parse_args()
+    r=prepare(a.source,a.output,a.top,json.loads(a.overrides.read_text()) if a.overrides else None)
+    print(json.dumps(r,ensure_ascii=False))
+
+
+def apply_style_fit(scene,style):
+    """Fixed shared materials/lights and their procedural graphs, never per-view edits."""
+    if not style:return {}
+    audit={}
+    if style.get('neutralize_lights'):
+        for obj in scene.objects:
+            if obj.type=='LIGHT' and obj.data.type=='AREA':obj.data.color=(1,1,1)
+        audit['area_light_rgb']=[1,1,1]
+    if 'primary_light_transform' in style:
+        description=style['primary_light_transform'];name=description.get('name','Light / broad left office softbox');obj=scene.objects[name];assert obj.type=='LIGHT' and obj.data.type=='AREA'
+        obj.location=description['position_m'];obj.rotation_euler=(Vector(description['target_m'])-obj.location).to_track_quat('-Z','Y').to_euler()
+        if 'power_w' in description:obj.data.energy=float(description['power_w'])
+        audit['primary_light_transform']=dict(name=name,position_m=list(obj.location),target_m=description['target_m'],power_w=float(obj.data.energy))
+    added=style.get('baseline_added_area_lights',{})
+    for name in added:
+        obj=scene.objects.get(name)
+        if obj is None:
+            data=bpy.data.lights.new(name,'AREA');obj=bpy.data.objects.new(name,data);scene.collection.objects.link(obj)
+        assert obj.type=='LIGHT' and obj.data.type=='AREA'
+    fitted_lights=dict(style.get('baseline_area_lights',{}))
+    assert not set(fitted_lights)&set(added)
+    fitted_lights.update(added)
+    if fitted_lights:
+        fitted=[]
+        for name,description in fitted_lights.items():
+            obj=scene.objects[name]
+            assert obj.type=='LIGHT' and obj.data.type=='AREA'
+            assert set(description)<={'position_m','target_m','power_w','size_m','color_rgb'}
+            if 'position_m' in description:obj.location=description['position_m']
+            if 'target_m' in description:obj.rotation_euler=(Vector(description['target_m'])-obj.location).to_track_quat('-Z','Y').to_euler()
+            if 'power_w' in description:
+                power=float(description['power_w']);assert 0<=power<=3000;obj.data.energy=power
+            if 'size_m' in description:
+                size=description['size_m'];assert len(size)==2 and all(0<float(v)<=6 for v in size)
+                obj.data.shape='RECTANGLE';obj.data.size=float(size[0]);obj.data.size_y=float(size[1])
+            if 'color_rgb' in description:
+                color=description['color_rgb'];assert len(color)==3 and all(0<=float(v)<=1 for v in color)
+                obj.data.color=color
+            fitted.append(dict(name=name,position_m=list(obj.location),power_w=float(obj.data.energy),
+                size_m=[float(obj.data.size),float(obj.data.size_y)],color_rgb=list(obj.data.color)))
+        audit['baseline_area_lights']=fitted
+        audit['baseline_added_area_light_names']=list(added)
+    table=bpy.data.materials.get('Desktop / warm white polished laminate')
+    if table and 'table_color_ramp' in style:
+        ramps=[node for node in table.node_tree.nodes if node.type=='VALTORGB'];assert len(ramps)==1
+        colors=style['table_color_ramp'];assert len(colors)==len(ramps[0].color_ramp.elements)
+        for element,color in zip(ramps[0].color_ramp.elements,colors):element.color=(*color,1)
+        audit['table_color_ramp']=colors
+    gray=bpy.data.materials.get('Divider / upper warm gray panel')
+    if gray and ('gray_panel_value_scale' in style or 'gray_panel_rgb_scale' in style):
+        tree=gray.node_tree;shader=next(n for n in tree.nodes if n.type=='BSDF_PRINCIPLED');socket=shader.inputs['Base Color']
+        name='Heightfit gray neutral value multiply';node=tree.nodes.get(name)
+        if node is None:
+            node=tree.nodes.new('ShaderNodeMixRGB');node.name=name;node.blend_type='MULTIPLY';node.inputs[0].default_value=1
+            links=list(socket.links)
+            if links:tree.links.new(links[0].from_socket,node.inputs[1])
+            else:node.inputs[1].default_value=socket.default_value
+            tree.links.new(node.outputs[0],socket)
+        if 'gray_panel_rgb_scale' in style:
+            color=style['gray_panel_rgb_scale'];assert len(color)==3 and all(0<float(v)<=5 for v in color)
+            node.inputs[2].default_value=(*map(float,color),1)
+        else:
+            scale=float(style['gray_panel_value_scale']);node.inputs[2].default_value=(scale,scale*.197/.180,scale*.197/.163,1)
+        audit['gray_neutral_multiply']=list(node.inputs[2].default_value)
+    for mat in bpy.data.materials:
+        if not mat.use_nodes:continue
+        shader=next((n for n in mat.node_tree.nodes if n.type=='BSDF_PRINCIPLED'),None)
+        if shader is None:continue
+        if mat.name.startswith('shared_kraft_paper') and 'cup_outer_base_color' in style:
+            assert not shader.inputs['Base Color'].is_linked
+            shader.inputs['Base Color'].default_value=(*style['cup_outer_base_color'],1)
+            shader.inputs['Specular IOR Level'].default_value=float(style.get('cup_outer_specular_ior',.23));audit['cup_outer_base_color']=style['cup_outer_base_color']
+        if mat.name.startswith('S1_native_finger_pad') and 'native_finger_base_color' in style:
+            shader.inputs['Base Color'].default_value=(*style['native_finger_base_color'],1)
+            shader.inputs['Roughness'].default_value=float(style.get('native_finger_roughness',.78))
+            shader.inputs['Specular IOR Level'].default_value=float(style.get('native_finger_specular_ior',.18));audit['native_finger_base_color']=style['native_finger_base_color']
+    return audit

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/render_config.paths_relative_to_cup.json

@@ -0,0 +1,1028 @@
+{
+  "appearance_version": "background_color_brightness_v3",
+  "asset_blend": "assets/desk_scene.blend",
+  "asset_dependencies": {
+    "textures/03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f.png": "03dcf50ead7d9a3352e3307fc0f7b82189835779ebca06cfa54502e2192cda2f",
+    "textures/667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe.hdr": "667e77d41c6f18cd778b32dee6a62a9b06580a67ef653a8813bc95bcf4ffd2fe",
+    "textures/86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d.png": "86a98e6088d7fee335a8ad4ab78237556e1b22b68618f36337b49f3c2c6cb56d"
+  },
+  "asset_scene": "Scene",
+  "asset_sha256": "ee8efa4bc54f9db3b78d7196b45ae37c3d59d38a7a23ef45adc254f39125b1e8",
+  "camera_alignment": {
+    "camera_response_note": "Fixed per-camera exposure estimates model different sensor captures; room geometry/materials/lights remain shared.",
+    "cameras": {
+      "head_rgbd": {
+        "baseline_world_position_m": [
+          -0.04029723767845193,
+          -0.2581808797104311,
+          1.5504909827914213
+        ],
+        "baseline_world_rotation": [
+          [
+            -0.9984142280986754,
+            0.04085612642488199,
+            -0.03872732967401701
+          ],
+          [
+            -0.05556244110544098,
+            -0.8257494397412113,
+            0.5612937536669012
+          ],
+          [
+            -0.009046782219681242,
+            0.5625554547781308,
+            0.8267100556004142
+          ]
+        ],
+        "exposure_offset_ev": -0.5428264650898995,
+        "fovy": 46.68734463653697,
+        "fovy_deg": 74.99365341164304,
+        "parent_body": "astribot_head_link_2",
+        "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+        "pos": [
+          0.022619845171147547,
+          -0.2400460318505255,
+          -0.045246823885230464
+        ],
+        "position_in_camera_m": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "quat": [
+          0.08606233952483466,
+          0.7114492396588586,
+          0.07501575505710205,
+          -0.6934016798346807
+        ],
+        "quaternion_in_camera_wxyz": [
+          1.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "reference_aspect": 1.7777777777777777,
+        "reference_fovy_deg": 46.68734463653697
+      },
+      "left_wrist_rgbd": {
+        "baseline_world_position_m": [
+          0.3199734618889353,
+          -0.3866329842091521,
+          1.0029182651508828
+        ],
+        "baseline_world_rotation": [
+          [
+            -0.9978976766778948,
+            -5.012789991490314e-05,
+            0.0648091379980808
+          ],
+          [
+            0.06407827207165417,
+            -0.15052229818248108,
+            0.9865277557160651
+          ],
+          [
+            0.009705767830094898,
+            0.9886066129846891,
+            0.15020906375372425
+          ]
+        ],
+        "exposure_offset_ev": 0.7007531625153249,
+        "fovy": 54.222198704777604,
+        "fovy_deg": 84.61501072235728,
+        "parent_body": "arm_left_tool_cam",
+        "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+        "pos": [
+          0.006744568667666906,
+          0.1464328753067978,
+          0.07665232327016308
+        ],
+        "position_in_camera_m": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "quat": [
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+          0.034474550449605006,
+          0.685282734400536,
+          0.7273977988230236
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+        "quaternion_in_camera_wxyz": [
+          1.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "reference_aspect": 1.7777777777777777,
+        "reference_fovy_deg": 54.222198704777604
+      },
+      "right_wrist_rgbd": {
+        "baseline_world_position_m": [
+          -0.28734405752041364,
+          -0.32887338433762514,
+          1.0166738161950089
+        ],
+        "baseline_world_rotation": [
+          [
+            -0.9749519204965966,
+            -0.03394800964694158,
+            -0.2198096571149888
+          ],
+          [
+            -0.21120833263148694,
+            -0.16844800897741388,
+            0.9628168613493286
+          ],
+          [
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+            0.9851257792345891,
+            0.15705860734266947
+          ]
+        ],
+        "exposure_offset_ev": 0.5364979914163741,
+        "fovy": 48.45549063590859,
+        "fovy_deg": 77.31961650818052,
+        "parent_body": "arm_right_tool_cam",
+        "policy": "One fixed parent mount; all later frames use native robot kinematics.",
+        "pos": [
+          -0.005538238890151263,
+          0.1613074787955398,
+          0.0736131169684578
+        ],
+        "position_in_camera_m": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "quat": [
+          -0.02961458926172238,
+          -0.056056253908770524,
+          0.7044950778034461,
+          0.7068715285335033
+        ],
+        "quaternion_in_camera_wxyz": [
+          1.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "reference_aspect": 1.7777777777777777,
+        "reference_fovy_deg": 48.45549063590859
+      }
+    },
+    "experiment": "s1_heightfit_3x1_20261017",
+    "head_fit": {
+      "camera_world_position_m": [
+        -0.04029723767845193,
+        -0.2581808797104311,
+        1.5504909827914213
+      ],
+      "camera_world_rotation": [
+        [
+          -0.9984142280986754,
+          0.04085612642488199,
+          -0.03872732967401701
+        ],
+        [
+          -0.05556244110544098,
+          -0.8257494397412113,
+          0.5612937536669012
+        ],
+        [
+          -0.009046782219681242,
+          0.5625554547781308,
+          0.8267100556004142
+        ]
+      ],
+      "cost": 20.05235807868658,
+      "cup_centers_xy_m": [
+        [
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+    },
+    "source_id": "random300_r15_20001"
+  },
+  "random300_provenance": {
+    "cpu_thread_override_scope": "throughput only; cameras geometry lighting and state unchanged",
+    "exposure_applied_by_existing_camera_response": true,
+    "height_contract": {
+      "campaign_id": "stack_cups_random200_r15_20261021_attempt_01",
+      "id": "stack_cups_random200_r15_table_075_085_v1",
+      "path": "/pfs/yichen/rssr_data_enhance+causal_map/sim2-refine/orchestration/stack_random200_r15/height_contract_v2.json",
+      "sha256": "0c4d14b184ed3780a08c6fe1c025b0b1f5d7ff2487a2ce645ad1097b73ef3fee"
+    },
+    "historical_camera_alignment_table_metadata_is_not_current_native_height": true,
+    "light_rgb_applied_by_style_and_verified_by_recipe": true,
+    "native_table_top_m": 0.7654869737111963,
+    "render_cpu_threads": 4,
+    "table_top_world_z_range_m": [
+      0.75,
+      0.85
+    ],
+    "template_path": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_v3_human_align_20261018/configs/physical_00__stack_cups_ep000000.json",
+    "template_sha256": "a354723fed7a4093e1e07ada549a62728d15bb8bc062ffa2f6624458c696fafd",
+    "unchanged_camera_mounts_and_fovs": true,
+    "unchanged_v3_materials": true
+  },
+  "registration_offset_xy_m": [
+    0,
+    0
+  ],
+  "samples": 64,
+  "schema": "rssr.s1_heightfit.render_config.v1",
+  "style_fit": {
+    "baseline_added_area_lights": {
+      "Alignment / lower panel indirect fill": {
+        "color_rgb": [
+          1.0,
+          1.0,
+          0.9443341992671945
+        ],
+        "position_m": [
+          0,
+          0.312,
+          0.65
+        ],
+        "power_w": 1.1,
+        "size_m": [
+          1.15,
+          0.015
+        ],
+        "target_m": [
+          0,
+          0.3477,
+          0.95
+        ]
+      }
+    },
+    "baseline_area_lights": {
+      "Light / broad left office softbox": {
+        "color_rgb": [
+          0.9033582173916163,
+          0.920306981879367,
+          0.9097184433963924
+        ]
+      },
+      "Light / ceiling bounce": {
+        "color_rgb": [
+          0.9693355612300584,
+          0.9782403068775241,
+          1.0
+        ]
+      },
+      "Light / low room bounce": {
+        "color_rgb": [
+          1.0,
+          1.0,
+          0.9050743545673479
+        ],
+        "position_m": [
+          0,
+          -0.8,
+          1.0
+        ],
+        "power_w": 18,
+        "size_m": [
+          3,
+          0.35
+        ],
+        "target_m": [
+          0,
+          0.365,
+          1.0
+        ]
+      },
+      "Light / soft camera-side fill": {
+        "color_rgb": [
+          0.9251498928029008,
+          0.9405851393117459,
+          0.943983088008139
+        ]
+      }
+    },
+    "cup_outer_base_color": [
+      0.13,
+      0.1,
+      0.062
+    ],
+    "cup_outer_specular_ior": 0.23,
+    "gray_panel_rgb_scale": [
+      1.02,
+      1.17215,
+      1.2574159509202456
+    ],
+    "native_finger_base_color": [
+      0.004,
+      0.005,
+      0.005
+    ],
+    "native_finger_roughness": 0.78,
+    "native_finger_specular_ior": 0.18,
+    "neutralize_lights": true,
+    "primary_light_transform": {
+      "name": "Light / broad left office softbox",
+      "position_m": [
+        1.4,
+        0.8,
+        2.8
+      ],
+      "power_w": 180,
+      "target_m": [
+        0,
+        0,
+        0.8
+      ]
+    },
+    "table_color_ramp": [
+      [
+        0.7644,
+        0.77415,
+        0.7605
+      ],
+      [
+        0.8150999999999999,
+        0.8268,
+        0.8111999999999999
+      ]
+    ]
+  },
+  "table_baseline_m": 0.8
+}

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/renderer.py

@@ -0,0 +1,277 @@
+"""S1 full-body native poses rendered inside the user-selected retained dual_arm asset."""
+import argparse
+import hashlib
+import json
+import math
+import os
+from pathlib import Path
+import subprocess
+import time
+
+import bpy
+from mathutils import Matrix,Vector
+from camera import camera_adjustment,fovy
+from environment import set_table_height,apply_overrides,apply_style_fit
+import numpy as np
+from PIL import Image
+
+
+def sha(path):return hashlib.sha256(Path(path).read_bytes()).hexdigest()
+def transform(position,rotation):
+    a=np.eye(4);a[:3,:3]=np.asarray(rotation).reshape(3,3);a[:3,3]=position;return Matrix(a.tolist())
+def material(name,color,roughness,metallic=0):
+    m=bpy.data.materials.new(name);m.use_nodes=True;s=m.node_tree.nodes.get('Principled BSDF')
+    s.inputs['Base Color'].default_value=(*color,1);s.inputs['Roughness'].default_value=roughness;s.inputs['Metallic'].default_value=metallic;return m
+
+
+def native_mesh(spec,geo,mat,scene):
+    k=spec['key'];mesh=bpy.data.meshes.new('S1_'+spec['geom_name']);mesh.from_pydata(geo[k+'_v'].tolist(),[],geo[k+'_f'].tolist());mesh.update()
+    obj=bpy.data.objects.new('S1_'+spec['geom_name'],mesh);scene.collection.objects.link(obj);mesh.materials.append(mat)
+    normal=geo[k+'_n']
+    if len(normal):
+        for p in mesh.polygons:p.use_smooth=True
+        mesh.normals_split_custom_set(normal.reshape(-1,3).tolist())
+    return obj
+
+
+class AssetScene:
+    def __init__(self,source,config,samples=64,device='OPTIX',width=224,height=126,reference=True):
+        self.source=Path(source);self.meta=json.loads((self.source/'source.json').read_text());self.cfg=json.loads(Path(config).read_text());self.reference=reference
+        for n,h in self.meta['artifacts'].items():assert sha(self.source/n)==h
+        self.pose=dict(np.load(self.source/'poses.npz',allow_pickle=False));self.geo=np.load(self.source/'geometry.npz',allow_pickle=False)
+        asset=Path(self.cfg['asset_blend']);assert sha(asset)==self.cfg['asset_sha256']
+        for relative,digest in self.cfg.get('asset_dependencies',{}).items():
+            assert not Path(relative).is_absolute() and '..' not in Path(relative).parts
+            assert sha(asset.parent/relative)==digest,'Environment texture dependency changed'
+        bpy.ops.wm.open_mainfile(filepath=str(asset),load_ui=False);self.scene=bpy.data.scenes[self.cfg.get('asset_scene','Scene')];bpy.context.window.scene=self.scene
+        for obj in self.scene.objects:obj.update_tag()
+        self.scene.frame_set(self.scene.frame_current);bpy.context.view_layer.update()
+        self.asset_view_settings=dict(view_transform=self.scene.view_settings.view_transform,look=self.scene.view_settings.look,
+            exposure_ev=self.scene.view_settings.exposure,gamma=self.scene.view_settings.gamma)
+        # Import only the measured tapered paper-cup assemblies. No old table,
+        # room, robot, light or camera is imported into the user desk environment.
+        cup_asset=Path(self.cfg['cup_asset_blend']);assert sha(cup_asset)==self.cfg['cup_asset_sha256']
+        names=['left_paper_cup','left_paper_cup_rolled_lip','right_paper_cup','right_paper_cup_rolled_lip']
+        with bpy.data.libraries.load(str(cup_asset),link=False) as (available,loaded):
+            assert all(name in available.objects for name in names);loaded.objects=names
+        for obj in loaded.objects:self.scene.collection.objects.link(obj)
+        old_cups=list(loaded.objects);self.cup_assemblies=[]
+        for name in ['left_paper_cup','right_paper_cup']:
+            assembly=[self.scene.objects[name],self.scene.objects[name+'_rolled_lip']]
+            points=np.array([tuple(o.matrix_basis@Vector(v)) for o in assembly for v in o.bound_box])
+            lower,upper=points.min(0),points.max(0)
+            assert np.allclose(upper-lower,[.08,.08,.09],atol=1e-6),'Use measured 8 cm tapered cup assemblies'
+            center=(upper+lower)/2;local=Matrix.Translation(Vector(-center))
+            self.cup_assemblies.append([(o,local@o.matrix_basis.copy()) for o in assembly])
+        self.demo_removed=[]
+        top=float(self.meta['table_center_m'][2]+self.meta['table_half_size_m'][2])
+        self.table_baseline=float(self.cfg['table_baseline_m']);height_delta=self.cfg.get('height_delta_m',[-.05,.05])
+        assert self.table_baseline+height_delta[0]-1e-6<=top<=self.table_baseline+height_delta[1]+1e-6,'Physical table outside configured baseline height augmentation range'
+        self.table_height_audit=set_table_height(self.scene,top);self.table_top=top
+        apply_overrides(self.scene,self.cfg.get('environment_overrides',{}))
+        self.style_audit=apply_style_fit(self.scene,self.cfg.get('style_fit',{}))
+        self.base_exposure_ev=float(self.scene.view_settings.exposure)
+        self.static_objects=[o for o in self.scene.objects if o.type!='CAMERA' and o not in old_cups]
+        self.material_pins=self.material_inventory()
+        # One rigid world registration, used identically for robot, cups and all
+        # sensor cameras. No per-object offsets or image-space object movement.
+        self.world=np.eye(4);self.world[:3,:3]=np.diag([-1.,-1.,1.])
+        self.world[:2,3]=np.array(self.meta['table_center_m'][:2])+np.array(self.cfg.get('registration_offset_xy_m',[0,0]))
+        if 'world_registration_matrix' in self.cfg:self.world=np.asarray(self.cfg['world_registration_matrix'],float)
+        assert self.world.shape==(4,4) and np.allclose(self.world[3],[0,0,0,1])
+        self.world_m=Matrix(self.world.tolist())
+        white=material('S1_native_white',[.70,.71,.72],.30);steel=material('S1_native_gripper_metal',[.42,.44,.46],.36,.78);black=material('S1_native_finger_pad',[.012,.014,.016],.72)
+        self.native_objects=[]
+        for i,spec in enumerate(self.meta['objects']):
+            if spec['geom_name'].startswith('worktable'):continue
+            body=spec['body_name'];mat=white if 'gripper' not in body else steel if 'base' in body else black
+            self.native_objects.append((i,spec,native_mesh(spec,self.geo,mat,self.scene)))
+        alignment=self.cfg.get('camera_alignment',{})
+        if isinstance(alignment,str):alignment=json.loads(Path(alignment).read_text())
+        self.camera_specs=alignment.get('cameras',{})
+        for name,native_fov in zip(self.meta['camera_names'],self.meta['camera_fovy_deg']):
+            spec=self.camera_specs.get(name,{})
+            if 'reference_fovy_deg' in spec:
+                assert abs(float(native_fov)-float(spec['reference_fovy_deg']))<1e-7,('Native camera FOV differs from frozen aligned mount',name,native_fov,spec['reference_fovy_deg'])
+        self.camera_deltas=[camera_adjustment(self.camera_specs.get(n,{})) for n in self.meta['camera_names']]
+        self.camera_fov=[fovy(self.camera_specs.get(n,{}),v,reference) for n,v in zip(self.meta['camera_names'],self.meta['camera_fovy_deg'])]
+        self.style_audit.update(apply_style_fit(self.scene,self.cfg.get('style_fit',{})))
+        self.cameras=[]
+        for name,vertical_fov in zip(self.meta['camera_names'],self.camera_fov):
+            c=bpy.data.cameras.new('S1_'+name);o=bpy.data.objects.new('S1_'+name,c);self.scene.collection.objects.link(o)
+            c.sensor_fit='VERTICAL';c.sensor_height=24;c.lens=12/math.tan(math.radians(vertical_fov)/2);c.clip_start=.005;c.clip_end=100;self.cameras.append(o)
+        self.scene.render.engine='CYCLES';self.scene.cycles.samples=samples;self.scene.cycles.use_denoising=True
+        self.scene.cycles.use_adaptive_sampling=True;self.scene.cycles.adaptive_threshold=.04
+        self.scene.render.use_persistent_data=True;self.scene.render.threads_mode='FIXED';self.scene.render.threads=int(os.environ.get('RSSR_RENDER_THREADS',self.cfg.get('cpu_threads',8)))
+        if device=='OPTIX':
+            p=bpy.context.preferences.addons['cycles'].preferences;p.compute_device_type='OPTIX';p.get_devices();selected=[]
+            for d in p.devices:
+                d.use=d.type=='OPTIX'
+                if d.use:selected.append(d.name)
+            assert len(selected)==1,'Expose exactly one idle GPU'
+            self.scene.cycles.device='GPU'
+        else:self.scene.cycles.device='CPU';self.scene.cycles.denoising_use_gpu=False
+        self.scene.render.resolution_x=width;self.scene.render.resolution_y=height;self.scene.render.resolution_percentage=100
+        self.scene.render.image_settings.file_format='PNG';self.scene.render.image_settings.color_mode='RGB';self.scene.render.film_transparent=False
+        static_transforms={o.name:np.array(o.matrix_world).copy() for o in self.static_objects if o.type!='LIGHT'}
+        self.apply_lighting(self.cfg.get('lighting_recipe'))
+        assert all(np.array_equal(np.array(self.scene.objects[n].matrix_world),m) for n,m in static_transforms.items()),'Lighting API moved static environment geometry'
+        self.set_frame(0)
+
+    def material_inventory(self):
+        result={}
+        for obj in self.static_objects:
+            if obj.type!='MESH':continue
+            for mat in obj.data.materials:
+                if mat is not None and mat.name not in result:
+                    # Serialized shader graphs are retained within the immutable
+                    # input blend; record material identity without rewriting it.
+                    result[mat.name]=dict(nodes=len(mat.node_tree.nodes) if mat.use_nodes else 0,
+                        diffuse_color=list(mat.diffuse_color),use_nodes=mat.use_nodes)
+        return result
+
+    def apply_lighting(self,recipe):
+        lights=[o for o in self.scene.objects if o.type=='LIGHT']
+        baseline_light_count=len(lights)
+        self.light_records=[]
+        if recipe:
+            if set(recipe)!={'lights','added_lights','seed'}:raise ValueError('Only lights may be augmented')
+            lookup={o.name:o for o in lights};assert set(lookup)=={v['name'] for v in recipe['lights']}
+            for v in recipe['lights']:
+                if set(v)!={'name','position_m','target_m','power_scale','color','size_scale'}:raise ValueError('Invalid lighting field')
+                o=lookup[v['name']];assert .6<=v['power_scale']<=1.8 and .7<=v['size_scale']<=1.4
+                pos=np.array(v['position_m'],float);target=np.array(v['target_m'],float)
+                assert pos.shape==target.shape==(3,) and np.isfinite(pos).all() and np.isfinite(target).all()
+                assert np.max(abs(pos-np.array(o.location)))<=.3+1e-8
+                assert np.linalg.norm(target-pos)>.01
+                assert np.allclose(v['color'],list(o.data.color),atol=1e-6),'Lighting augmentation changed a fitted baseline light color'
+                o.data=o.data.copy();o.location=pos;o.rotation_euler=(Vector(v['target_m'])-o.location).to_track_quat('-Z','Y').to_euler()
+                o.data.energy*=v['power_scale'];o.data.color=v['color'];o.data.size*=v['size_scale']
+                if o.data.shape=='RECTANGLE':o.data.size_y*=v['size_scale']
+        if recipe:
+            for v in recipe['added_lights']:
+                assert set(v)=={'name','position_m','target_m','power_w','color','size_m'}
+                assert v['name'].startswith('s1_heightfit_added_') and v['name'] not in lookup
+                assert 0<float(v['power_w'])<=100 and len(v['position_m'])==len(v['target_m'])==3
+                data=bpy.data.lights.new(v['name'],'AREA');data.shape='DISK';data.energy=float(v['power_w']);data.color=v['color'];data.size=float(v['size_m'])
+                o=bpy.data.objects.new(v['name'],data);self.scene.collection.objects.link(o);o.location=v['position_m']
+                o.rotation_euler=(Vector(v['target_m'])-o.location).to_track_quat('-Z','Y').to_euler();lights.append(o)
+            assert 1<=len(recipe['added_lights'])<=2
+        assert baseline_light_count>=3
+        assert len(lights)==baseline_light_count+(len(recipe['added_lights']) if recipe else 0)
+        for o in lights:
+            direction=o.rotation_euler.to_matrix()@Vector((0,0,-1))
+            self.light_records.append(dict(name=o.name,position_m=list(o.location),target_m=list(o.location+direction*2),
+                energy_w=o.data.energy,color=list(o.data.color),size_m=[o.data.size,o.data.size_y if o.data.shape=='RECTANGLE' else o.data.size]))
+        assert self.material_inventory()==self.material_pins,'Lighting API changed non-light materials'
+
+    def set_frame(self,index):
+        for gi,spec,o in self.native_objects:o.matrix_world=self.world_m@transform(self.pose['geom_position'][index,gi],self.pose['geom_rotation'][index,gi])
+        for i,assembly in enumerate(self.cup_assemblies):
+            pose=self.world_m@transform(self.pose['cup_position'][index,i],self.pose['cup_rotation'][index,i])
+            for o,local in assembly:o.matrix_world=pose@local
+        for i,o in enumerate(self.cameras):o.matrix_world=self.world_m@transform(self.pose['camera_position'][index,i],self.pose['camera_rotation'][index,i])@Matrix(self.camera_deltas[i].tolist())
+        bpy.context.view_layer.update()
+
+    def projection_error(self,index):
+        from bpy_extras.object_utils import world_to_camera_view
+        self.set_frame(index);w,h=self.scene.render.resolution_x,self.scene.render.resolution_y;worst=0.
+        checked=excluded=0;pose_error=0.
+        for ci,camera in enumerate(self.cameras):
+            native=np.array(transform(self.pose['camera_position'][index,ci],self.pose['camera_rotation'][index,ci]))
+            aligned=native@self.camera_deltas[ci];C=aligned[:3,3];R=aligned[:3,:3]
+            expected_matrix=self.world@aligned;actual_matrix=np.array(camera.matrix_world)
+            pose_error=max(pose_error,float(np.max(abs(expected_matrix-actual_matrix))))
+            assert pose_error<1e-6,'Aligned fixed mount no longer follows native camera kinematics'
+            measured_fovy=math.degrees(2*math.atan(camera.data.sensor_height/(2*camera.data.lens)))
+            assert abs(measured_fovy-self.camera_fov[ci])<1e-5,'Frozen aligned FOV changed'
+            f=h/(2*np.tan(np.deg2rad(self.camera_fov[ci])/2))
+            for pi,point in enumerate(self.pose['cup_position'][index]):
+                obj,local=self.cup_assemblies[pi][0]
+                actual_cup_pose=obj.matrix_world@local.inverted()
+                expected_cup_pose=self.world_m@transform(point,self.pose['cup_rotation'][index,pi])
+                assert np.max(abs(np.array(actual_cup_pose)-np.array(expected_cup_pose)))<1e-6,'Rendered cup rigid pose changed'
+                q=R.T@(point-C)
+                if -q[2]<=camera.data.clip_start:excluded+=1;continue
+                expected=np.array([w/2+f*q[0]/-q[2],h/2-f*q[1]/-q[2]])
+                if not (0<=expected[0]<w and 0<=expected[1]<h):excluded+=1;continue
+                world_point=self.world_m@Vector(point)
+                uv=world_to_camera_view(self.scene,camera,world_point);actual=np.array([uv.x*w,(1-uv.y)*h])
+                worst=max(worst,float(np.max(abs(actual-expected))));checked+=1
+        assert checked>0,'No in-frame cup center available for projection verification'
+        assert worst<.003,('Native in-frame camera projection changed',worst)
+        self.projection_scope=dict(in_frame_points_checked=checked,behind_or_offscreen_centers_excluded=excluded,
+            all_camera_and_cup_rigid_pose_matrices_checked=True,maximum_camera_matrix_error=pose_error,
+            fov_tolerance_degrees=1e-5,in_frame_pixel_tolerance=.003)
+        return worst
+
+    def render(self,index,camera,path):
+        self.set_frame(index)
+        for gi,spec,obj in self.native_objects:obj.visible_camera=not(camera==0 and spec['head_occluder'])
+        self.scene.camera=self.cameras[camera]
+        name=self.meta['camera_names'][camera];response=self.cfg.get('camera_response',{}).get(name,{})
+        offset=float(self.camera_specs.get(name,{}).get('exposure_offset_ev',response.get('exposure_offset_ev',0)))
+        assert -3<=offset<=3;self.scene.view_settings.exposure=self.base_exposure_ev+offset
+        self.scene.render.filepath=str(path);bpy.ops.render.render(write_still=True)
+        return Image.open(path).convert('RGB').copy()
+
+
+def main():
+    p=argparse.ArgumentParser();p.add_argument('--source',type=Path,required=True);p.add_argument('--config',type=Path,required=True);p.add_argument('--output',type=Path,required=True)
+    p.add_argument('--width',type=int);p.add_argument('--height',type=int);p.add_argument('--reference-aspect',action='store_true',help='Diagnostic 640x360 native view');p.add_argument('--preview',action='store_true');p.add_argument('--diagnostic',action='store_true');p.add_argument('--samples',type=int,default=64);p.add_argument('--device',choices=['CPU','OPTIX'],default='OPTIX')
+    p.add_argument('--start',type=int,default=0);p.add_argument('--stop',type=int);a=p.parse_args()
+    meta=json.loads((a.source/'source.json').read_text())
+    if not meta.get('native_accepted'):assert a.preview or a.diagnostic,'Production requires native accepted task and exact replay'
+    a.output.mkdir(parents=True,exist_ok=True);assert not (a.output/'render_receipt.json').exists();started=time.monotonic()
+    inputs={str(a.source/'source.json'):sha(a.source/'source.json'),str(a.config):sha(a.config)}
+    width,height=(a.width or 640,a.height or 360) if a.reference_aspect else (a.width or 224,a.height or 126)
+    assert not a.reference_aspect or a.preview or a.diagnostic,'Reference aspect is diagnostic only'
+    assert a.preview or (width,height)==(224,126),'Video chunks must render native 16:9 at long edge 224'
+    scene=AssetScene(a.source,a.config,a.samples,a.device,width,height,True)
+    frames=[0] if a.preview else list(range(a.start,min(a.stop or meta['frames'],meta['frames'])));assert frames
+    pe=max(scene.projection_error(i) for i in sorted(set([frames[0],frames[-1]])))
+    encoders=[];ffmpeg=os.environ.get('RSSR_FFMPEG','/pfs/yichen/miniconda3/envs/agent_retarget/bin/ffmpeg')
+    if not a.preview:
+        for camera in meta['camera_names']:
+            encoders.append(subprocess.Popen([ffmpeg,'-v','error','-y','-f','rawvideo','-pixel_format','rgb24','-video_size','224x224','-framerate','30','-i','pipe:0','-an','-c:v','libx264','-preset','fast','-crf','18','-pix_fmt','yuv420p','-threads','1',str(a.output/(camera+'.mp4'))],stdin=subprocess.PIPE))
+    try:
+        for count,index in enumerate(frames):
+            for ci,name in enumerate(meta['camera_names']):
+                raw=scene.render(index,ci,a.output/'current.png')
+                assert raw.size==(224,126),'Preview and production require native 224x126 content'
+                # The retained 120x60 desk asset already produces the S1 upright
+                # camera orientation. Rotating this raw frame inverted the robot.
+                im=Image.new('RGB',(224,224),(0,0,0));im.paste(raw,(0,49))
+                if a.preview:
+                    raw.save(a.output/(name+'_raw.png'))
+                    im.save(a.output/(name+'.png'))
+                else:
+                    assert im.size==(224,224);encoders[ci].stdin.write(np.asarray(im).tobytes())
+                    if index in [frames[0],frames[-1]]:im.save(a.output/f'frame_{index:06d}_{name}.png')
+            (a.output/'progress.json').write_text(json.dumps(dict(frames_completed=count+1,frames_expected=len(frames),elapsed_s=time.monotonic()-started)))
+        for e in encoders:e.stdin.close();assert e.wait(timeout=60)==0
+    except BaseException:
+        for e in encoders:
+            if e.poll() is None:e.kill();e.wait()
+        raise
+    assert all(sha(p)==h for p,h in inputs.items())
+    assert sha(scene.cfg['asset_blend'])==scene.cfg['asset_sha256']
+    assert sha(scene.cfg['cup_asset_blend'])==scene.cfg['cup_asset_sha256']
+    receipt=dict(schema='rssr.s1_heightfit.render.v1',diagnostic_only=bool(a.diagnostic or a.preview),native_accepted=meta.get('native_accepted'),
+        frames=frames,fps=30,resolution=[224,224],raw_resolution=[width,height],source=str(a.source),asset_blend=scene.cfg['asset_blend'],asset_sha256=scene.cfg['asset_sha256'],asset_scene=scene.scene.name,
+        native_motion_preserved=True,fixed_aligned_mounts_follow_native_kinematics=True,aligned_camera_fovy_deg=scene.camera_fov,native_projection_error_px=pe,
+        camera_alignment=scene.cfg.get('camera_alignment',{}),style_fit=scene.cfg.get('style_fit',{}),style_audit=scene.style_audit,
+        camera_response_exposure_offsets_ev={n:float(scene.camera_specs.get(n,{}).get('exposure_offset_ev',scene.cfg.get('camera_response',{}).get(n,{}).get('exposure_offset_ev',0))) for n in scene.meta['camera_names']},raster_policy='raw 224x126 upright 16:9; black-pad 49px top/bottom to 224x224 RGB',
+        projection_validation_scope=scene.projection_scope,
+        world_registration_matrix=scene.world.tolist(),table_height_m=scene.table_top,table_height_audit=scene.table_height_audit,task_regions_hidden=True,
+        original_asset_materials_preserved=not bool(scene.cfg.get('environment_overrides',{}).get('materials')),baseline_environment_materials_preserved_after_fit=True,source_asset_view_settings=scene.asset_view_settings,lights=scene.light_records,
+        measured_cup_meshes_and_rolled_lips_preserved=True,cup_asset_blend=scene.cfg['cup_asset_blend'],cup_asset_sha256=scene.cfg['cup_asset_sha256'],cup_visual_outer_dimensions_m=[.08,.08,.09],lighting_recipe=scene.cfg.get('lighting_recipe'),
+        lighting_fixed_across_frames_and_cameras=True,baseline_tabletop_height_m=scene.table_baseline,
+        source_demo_robot_and_cups_removed=scene.demo_removed,cup_model=meta['cup_model'],elapsed_s=time.monotonic()-started,
+        input_pins=inputs,artifacts={p.name:sha(p) for p in a.output.iterdir() if p.suffix in ['.png','.mp4']})
+    (a.output/'render_receipt.json').write_text(json.dumps(receipt,indent=2)+'\n')
+    if a.preview:bpy.ops.wm.save_as_mainfile(filepath=str(a.output/'scene.blend'),compress=True)
+    print(json.dumps({'rendered':str(a.output),'frames':len(frames),'elapsed_s':time.monotonic()-started}))
+
+
+if __name__=='__main__':main()

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/sample_episode_000000/actions_30fps.npz

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+size 829837

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/sample_episode_000000/geometry.npz

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+size 40262338

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/sample_episode_000000/poses.npz

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+version https://git-lfs.github.com/spec/v1
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+size 1800174

150case_data_enhance_blender_v7_cup+block+draw/simulation_assets/blender/cup/sample_episode_000000/source.json

@@ -0,0 +1,1042 @@
+{
+  "schema": "rssr.s1_heightfit.render_source.v1",
+  "source": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native",
+  "source_pins": {
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native/execute/scene.xml": "b4d83485d4e40e232b0fc2232cb9a9e7d1379e0721c938c8723223d24e5514c7",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native/receipt.json": "d1d899b28fbfaf0222d081d963994940a615736c0f2bf617fd34b6d1d58e89e5",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native/execute/rollout.npz": "a9dba22a42e10568bca525d7f7b371fd8de65d715b2c8c3092839b852d4d5600",
+    "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native/issued_robot_commands.npz": "5e6aef1e2f25febcbe71c7582d9ff1fb8ca8948617ecbf827f1436d621572520"
+  },
+  "baseline_diagnostic": false,
+  "postprocess_diagnostic": false,
+  "native_accepted": true,
+  "frames": 450,
+  "fps": 30,
+  "duration_s": 14.965000000006798,
+  "raster": [
+    224,
+    224
+  ],
+  "content_raster": [
+    224,
+    126
+  ],
+  "resize_policy": "native upright 16:9 render at 224x126; black-pad 49 pixels above and below to 224x224",
+  "native_scene": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native/execute/scene.xml",
+  "native_scene_sha256": "b4d83485d4e40e232b0fc2232cb9a9e7d1379e0721c938c8723223d24e5514c7",
+  "native_attempt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-refine/stack_cups_random200_r15_20261021_attempt_01/production_01/cases/random300_r15_20001/native",
+  "native_receipt_sha256": "d1d899b28fbfaf0222d081d963994940a615736c0f2bf617fd34b6d1d58e89e5",
+  "scalar_joint_names": [
+    "astribot_torso_joint_1",
+    "astribot_torso_joint_2",
+    "astribot_torso_joint_3",
+    "astribot_torso_joint_4",
+    "astribot_head_joint_1",
+    "astribot_head_joint_2",
+    "astribot_arm_left_joint_1",
+    "astribot_arm_left_joint_2",
+    "astribot_arm_left_joint_3",
+    "astribot_arm_left_joint_4",
+    "astribot_arm_left_joint_5",
+    "astribot_arm_left_joint_6",
+    "astribot_arm_left_joint_7",
+    "astribot_gripper_left_joint_L1",
+    "astribot_gripper_left_joint_L11",
+    "astribot_gripper_left_joint_L2",
+    "astribot_gripper_left_joint_R1",
+    "astribot_gripper_left_joint_R11",
+    "astribot_gripper_left_joint_R2",
+    "astribot_arm_right_joint_1",
+    "astribot_arm_right_joint_2",
+    "astribot_arm_right_joint_3",
+    "astribot_arm_right_joint_4",
+    "astribot_arm_right_joint_5",
+    "astribot_arm_right_joint_6",
+    "astribot_arm_right_joint_7",
+    "astribot_gripper_right_joint_L1",
+    "astribot_gripper_right_joint_L11",
+    "astribot_gripper_right_joint_L2",
+    "astribot_gripper_right_joint_R1",
+    "astribot_gripper_right_joint_R11",
+    "astribot_gripper_right_joint_R2"
+  ],
+  "controlled_joint_names": [
+    "astribot_torso_joint_1",
+    "astribot_torso_joint_2",
+    "astribot_head_joint_1",
+    "astribot_head_joint_2",
+    "astribot_torso_joint_3",
+    "astribot_torso_joint_4",
+    "astribot_arm_left_joint_1",
+    "astribot_arm_left_joint_2",
+    "astribot_arm_left_joint_3",
+    "astribot_arm_left_joint_4",
+    "astribot_arm_left_joint_5",
+    "astribot_arm_left_joint_6",
+    "astribot_arm_left_joint_7",
+    "astribot_gripper_left_joint_L1",
+    "astribot_arm_right_joint_1",
+    "astribot_arm_right_joint_2",
+    "astribot_arm_right_joint_3",
+    "astribot_arm_right_joint_4",
+    "astribot_arm_right_joint_5",
+    "astribot_arm_right_joint_6",
+    "astribot_arm_right_joint_7",
+    "astribot_gripper_right_joint_L1"
+  ],
+  "action_columns": [
+    {
+      "index": 0,
+      "name": "astribot_torso_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_1",
+      "actuator_name": "astribot_torso_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 1,
+      "name": "astribot_torso_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_2",
+      "actuator_name": "astribot_torso_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 2,
+      "name": "astribot_head_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_1",
+      "actuator_name": "astribot_head_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 3,
+      "name": "astribot_head_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_head_joint_2",
+      "actuator_name": "astribot_head_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 4,
+      "name": "astribot_torso_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_3",
+      "actuator_name": "astribot_torso_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 5,
+      "name": "astribot_torso_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_torso_joint_4",
+      "actuator_name": "astribot_torso_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 6,
+      "name": "astribot_arm_left_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_1",
+      "actuator_name": "astribot_arm_left_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 7,
+      "name": "astribot_arm_left_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_2",
+      "actuator_name": "astribot_arm_left_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 8,
+      "name": "astribot_arm_left_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_3",
+      "actuator_name": "astribot_arm_left_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 9,
+      "name": "astribot_arm_left_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_4",
+      "actuator_name": "astribot_arm_left_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 10,
+      "name": "astribot_arm_left_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_5",
+      "actuator_name": "astribot_arm_left_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 11,
+      "name": "astribot_arm_left_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_6",
+      "actuator_name": "astribot_arm_left_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 12,
+      "name": "astribot_arm_left_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_left_joint_7",
+      "actuator_name": "astribot_arm_left_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 13,
+      "name": "astribot_gripper_left_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_left_joint_L1",
+      "actuator_name": "astribot_gripper_left_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_left_split",
+      "coupled_target_joints": [
+        "astribot_gripper_left_joint_R1",
+        "astribot_gripper_left_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    },
+    {
+      "index": 14,
+      "name": "astribot_arm_right_joint_1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_1",
+      "actuator_name": "astribot_arm_right_joint_1",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 15,
+      "name": "astribot_arm_right_joint_2",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_2",
+      "actuator_name": "astribot_arm_right_joint_2",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 16,
+      "name": "astribot_arm_right_joint_3",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_3",
+      "actuator_name": "astribot_arm_right_joint_3",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 17,
+      "name": "astribot_arm_right_joint_4",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_4",
+      "actuator_name": "astribot_arm_right_joint_4",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 18,
+      "name": "astribot_arm_right_joint_5",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_5",
+      "actuator_name": "astribot_arm_right_joint_5",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 19,
+      "name": "astribot_arm_right_joint_6",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_6",
+      "actuator_name": "astribot_arm_right_joint_6",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 20,
+      "name": "astribot_arm_right_joint_7",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_arm_right_joint_7",
+      "actuator_name": "astribot_arm_right_joint_7",
+      "actuator_transmission": "joint"
+    },
+    {
+      "index": 21,
+      "name": "astribot_gripper_right_joint_L1",
+      "unit": "rad",
+      "semantics": "desired_joint_position",
+      "target_joint_or_interface": "astribot_gripper_right_joint_L1",
+      "actuator_name": "astribot_gripper_right_joint_L1",
+      "actuator_transmission": "fixed_tendon",
+      "tendon_name": "gripper_right_split",
+      "coupled_target_joints": [
+        "astribot_gripper_right_joint_R1",
+        "astribot_gripper_right_joint_L1"
+      ],
+      "fixed_tendon_coefficients": [
+        0.5,
+        0.5
+      ],
+      "all_issued_finger_targets_equal": true
+    }
+  ],
+  "desired_velocity_layout": "qpos_coordinates",
+  "actual_velocity_layout": "mujoco_dof_coordinates",
+  "complete_terminal_state_included": true,
+  "causal_actions_bound_to_rendered_state": true,
+  "camera_names": [
+    "head_rgbd",
+    "left_wrist_rgbd",
+    "right_wrist_rgbd"
+  ],
+  "camera_fovy_deg": [
+    46.68734463653697,
+    54.222198704777604,
+    48.45549063590859
+  ],
+  "objects": [
+    {
+      "key": "g000",
+      "geom_id": 1,
+      "geom_name": "geom_1",
+      "body_name": "chassis_base",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g001",
+      "geom_id": 3,
+      "geom_name": "geom_3",
+      "body_name": "wheel_RF_Link",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g002",
+      "geom_id": 4,
+      "geom_name": "geom_4",
+      "body_name": "wheel_LF_Link",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g003",
+      "geom_id": 5,
+      "geom_name": "geom_5",
+      "body_name": "wheel_RR_Link",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g004",
+      "geom_id": 6,
+      "geom_name": "geom_6",
+      "body_name": "wheel_LR_Link",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g005",
+      "geom_id": 7,
+      "geom_name": "geom_7",
+      "body_name": "astribot_torso_link_1",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g006",
+      "geom_id": 9,
+      "geom_name": "geom_9",
+      "body_name": "astribot_torso_link_2",
+      "rgba": [
+        0.5,
+        0.5,
+        0.5,
+        1.0
+      ],
+      "head_occluder": true
+    },
+    {
+      "key": "g007",
+      "geom_id": 11,
+      "geom_name": "geom_11",
+      "body_name": "astribot_torso_link_3",
+      "rgba": [
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