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Simul-Robot/c001_episode_002210/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "a192cd6dcced6818cafc305a046166d099e9792cdfb8d5da2e84c9c67ade8a1c",
   "labels/objects.json": "e2a5a2258692c5277617d99def604e1855c6eb97e3d06892743eef1a8ec774f5",
   "labels/visibility_states.json": "18c37b8d471b9234f0f38649bc576e7f24936accde89291940880b327f3e72e8",
-  "source/cameras.json": "c197c53d1ec4bd1b915a210abf500fbfb909c4a2e017e5c6f6af6ce5bc6f427c",
+  "source/cameras.json": "3003da11c30ebbb7b3e9ebda0c722635a96efd656ab090932c99af6d53f32108",
   "source/caption.txt": "959f223b507fc7bec72afd02491d92e925095855f9adda8034dd285b617c33b5",
-  "source/meta.json": "38490afef15e9454380e975685e85e546c7e900522b4b91f646a8aea06b446c2",
-  "source/points_target.npz": "fec3345eda79b9dea45f71d2650ede4ce58fe129049bb8c1552f083fce57ae6e",
-  "source/visibility.json": "2ad86d6ebbb80f7a4b227e14994df80d08571ea004ad160221b3dee32973ab09",
+  "source/meta.json": "fb2a0e58386ee73f1db167c4bc5e9631ddb7891450a8516d79464041d6933d2c",
+  "source/points_target.npz": "088501dbacf07928182ba3ae357928b9e781f4532d4f65c33c9191b370830527",
+  "source/visibility.json": "593f9761a1dfc4199570184c44b0b6553fa719269f3b9dff814c64d750c04d4a",
   "tracks3d.npz": "816279c16f8a49079e2a804f016d1d4f5868749e5df93c53762670356fadd736",
   "videos/view0.mp4": "dd426e0ddf6c25bdaee304fbbcde12c96db35db75189e750c7f3a13746a71e5d",
   "videos/view1.mp4": "8ce7522d01e05b3eec45d5370bb3fa65c7c2a6a5eb63e4939e83d1eda4c07739",

Simul-Robot/c001_episode_002210/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_002210/source/meta.json

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

Simul-Robot/c001_episode_002210/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": [
@@ -5563,9 +5563,9 @@
       "target": "red_energy_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 1f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [0, 1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, None] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 1 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -9253,5 +9253,5 @@
       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_002300/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "96ad2fd26116fd0cc8dfe532852a64cf075923add1a2ba9033a0e5b5cffa9260",
   "labels/objects.json": "05fdefae2501fed91dbca8b5a2b6901a745cca65c47801e77d6475668154d852",
   "labels/visibility_states.json": "a9e3e8d1eab1fe50de08096ef9c93def8db394faf3e220b5d340cd5ed05087f1",
-  "source/cameras.json": "8f3b716ba26d2d581dc6ff93e783575b73549e2f23a435796fa8401aef3cfe51",
+  "source/cameras.json": "b2a78ebb7d55c039e2cd1d5afb6836fced6cc47f8909683f020343bb6aeab9e2",
   "source/caption.txt": "eb0439d70675db3278ec57b407cb1c2cb5e635ea3fe820665456808a9551ffa4",
-  "source/meta.json": "76546a6084be5d9f096ee04388988cf2eb33b9cf315b8c09b4d8441a6e7c14db",
-  "source/points_target.npz": "4586aff239182b8e6f8cbc396bbcb357c3c487fc86d567e38955e69061d79541",
-  "source/visibility.json": "f09744b9da36d5ef1e38b65f19a522c86f6224436cf6217caa72a4e61c17cb62",
+  "source/meta.json": "3db021cb011c5cf115450a5f70eb26db0f2febb6ab96908b6be2d8bb56f1acc4",
+  "source/points_target.npz": "da4abf63706a3571098665843e7451e430c8e52d1171c0c8379ef4f72758fdb3",
+  "source/visibility.json": "70ef374d949d462109f61b1f4149deee0b1c3215e3c4157d04489190b745776f",
   "tracks3d.npz": "0f4222f9ddfb0f9cb82b4158230a72e8b4771619faf5be90333461fd65309a77",
   "videos/view0.mp4": "fa4d5e63531c9905f6dfe4bb432cd820896966abd12758a70d8d44ff87fd851a",
   "videos/view1.mp4": "b4e78cb45f8d82e95a98aa9263b1eadc63a9dbb37bf6f0c6de4f4e43f235a19a",

Simul-Robot/c001_episode_002300/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_002300/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_002300/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": [
@@ -5440,9 +5440,9 @@
       "target": "alphabet_soup_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,
@@ -9050,5 +9050,5 @@
       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_002380/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "f8160a71e5ad519dcb1d3b6de0336db7f48338d38bf62a1916943a59c1cf4267",
   "labels/objects.json": "9c0168b74b1ce9d6a6ba972f6945924bd3e8d8b456840a10154277c5ef004f33",
   "labels/visibility_states.json": "43cb167528f50ed6e9e61d46e654d708faf1ec64afcc566c707b1e0078709b89",
-  "source/cameras.json": "e8361cb205914aa714454941499d6bda90b202da59128ea5631a135e8aedd32d",
+  "source/cameras.json": "2aa25dee55c89914437125ec3b2abc2a1c51a25ed841ee9645abeb81958a1213",
   "source/caption.txt": "d9e478f7dd1d7025d05683774b0b0437a944ac212e0b2d3a7953f3db675ea3ed",
-  "source/meta.json": "f94d5afc500d2bebe2b879bd353462dd696679b151cc6b27a2975932394f7f04",
-  "source/points_target.npz": "4802b5939f9ad487727cecf09a24a2e2434aeb628972e37ab5fd8fafdf8c0b5a",
-  "source/visibility.json": "8355ca27bb6282c94c754c22abc8dc4af41df7db54f4648343a91a4c9c172645",
+  "source/meta.json": "372fa3a2897de5ed55286d608b3be0a899cfae47186633fbf93012025f4b7844",
+  "source/points_target.npz": "30cc650cd5f808ee74d2d57788406f92ef403f4b386c5b11bc63f9147ceae5ff",
+  "source/visibility.json": "249f2dfab8893d26921c065b9f0e6e4195128de293b14852119f688d25bcda33",
   "tracks3d.npz": "986ba268a37e217fa79c56b72d83b2e6dc73fa1f76ed4c1cfb19693cddcd50a7",
   "videos/view0.mp4": "57f661477ddd81890a54ca76e4acd4964ff782510fadc5df1b45ede6d1750160",
   "videos/view1.mp4": "8f3842280abb96a5cbbdbec4f572a5ab37c71e44adf0a2d98bcc4486e4aa1715",

Simul-Robot/c001_episode_002380/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_002380/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, 2.53] < 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, 2.53] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002380/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": [
@@ -6553,8 +6553,8 @@
       "target": "red_foam_brick"
     },
     "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, 2.53] < 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, 2.53] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -10902,5 +10902,5 @@
       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_002420/sample.json

@@ -219,11 +219,11 @@
   "depth/depth.zip": "3550d4b59f6c2bba0fd54eaecc9acddcd0d2046355168fff0e79d8e40ed94058",
   "labels/objects.json": "1614f1433c3b94f438f6d844e5c692d0fa3ec599b9dbbd94daa7abd8bce6cbc6",
   "labels/visibility_states.json": "6ef2077dd93797625c91ab451b5e9cd19512cc4968af4d37a4318c20a7c76a12",
-  "source/cameras.json": "ba38311a0bb0b548e0030cea81546800db692514b15b3aa06bffe19fcf934974",
+  "source/cameras.json": "88ba5340ec0982ed417ae003c995c4d47eab216c978e65fc951b371ae9a410c5",
   "source/caption.txt": "d4ffed68240c11ad1fab90e34f509519a37537cfe4ceac41f653d503b3587f80",
-  "source/meta.json": "413c68099b7ccd37996247d1a27156de6462c692578871e611845473aa9c5d53",
-  "source/points_target.npz": "38cfa801ceecb5406ab3880f74b6fbec4bf7a85712e97b299b3b86f250e8f5df",
-  "source/visibility.json": "836239a22e2fb1839d96dceecb74b57d7afd1a0f25ed48576cd9d5a3006c3e83",
+  "source/meta.json": "29ac610e7af9c7ec9eaf49eca5b59ae8ac94aa1cbc8d0146024ab67eddbbb21e",
+  "source/points_target.npz": "ff64f657a82b743b9beb7c6eed76587d697d87985e77058d60694ed74c2efbd6",
+  "source/visibility.json": "c688b6094e44ecddaf3b513c094d455fa46743eae5fbd6737db7fadc3d38efdb",
   "tracks3d.npz": "005fab4c216f24de36d03e7d902e3f6996712540c2ee56b06980d5efea2277c6",
   "videos/view0.mp4": "ee6750b25f67ef5d420e0bb7440b9f725aed204a389c6c27e568a1f336532d41",
   "videos/view1.mp4": "05eee02c4ceeef6bfaa02ae43312135c612c9d019a8d9660c8bf06f560a8681b",

Simul-Robot/c001_episode_002420/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_002420/source/meta.json

@@ -41,8 +41,8 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam02'] 의 최장 비가시 [1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.4, None] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam02']: [1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.4, None] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002420/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "orange_juice_carton": [
@@ -4906,8 +4906,8 @@
       "target": "orange_juice_carton"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam02'] 의 최장 비가시 [1, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, 0.4, None] < 5.0cm (못 봤지만 잃은 것도 없다)"
+      "① longest invisible run per camera ['cam00', 'cam02']: [1, 0] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, 0.4, None] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8155,5 +8155,5 @@
       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_002580/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "ac832afd420b9c870e97719cc947c8159be6a6a5acd72c538736f4f0c7f922ee",
   "labels/objects.json": "d4d9a4f291175b50a9b491cd8390b75f9d518e83507677ea5f6129f305ad99ce",
   "labels/visibility_states.json": "6843c5a73c0325901fe41c7cb2244b12ca12e4b070fc8a3ed88f80f4ccc9a3f2",
-  "source/cameras.json": "7a5af06b8f9a560a4de43ebb14692bec9d989f00ac107a0542ca29a469925591",
+  "source/cameras.json": "1bdf2d903673a690d57d0c8b6c91b95dbfc0284ed9ad895795a5bb8ca9257297",
   "source/caption.txt": "3a287cc650af4d616a846c1ca4b89537fbb7e1c90fd901773f6d4652359d364b",
-  "source/meta.json": "b838b226cd4f1f36ccee02d114b8ddb8f57fd364616f8849b3f401c18a873d6a",
-  "source/points_target.npz": "9bcc4b3969860c4da4d2b604828e6049dd9a29f565e4c7fa8262af4c13d819e5",
-  "source/visibility.json": "8dee018d320413225b55c4132443cbe86e63e6ff645eecbac29be1c6e547c6c0",
+  "source/meta.json": "b0a704f7655cd8e5105ce2013d518cb78221f24c582d5d5a30f8d508f2ae58f9",
+  "source/points_target.npz": "19d6ceeb287222551ad62b444258e6f2efda4164debfa247720817e9b2e11c9d",
+  "source/visibility.json": "e6e98b04745b79fbee724c7bdb5f5d25fce7afb072126f8f97e4400d94f772f6",
   "tracks3d.npz": "054c921492f970843bc0ade8657eaad411e74b037650dadd4a0050d732425d38",
   "videos/view0.mp4": "1a970583a19cd5fca60e6f66f399788169cc85cf73f7be1ed4e4a0f294282d4c",
   "videos/view1.mp4": "513223c0c1b105eab03f110f5fe45e3ba22732400e2afea895f5b7933cff058d",

Simul-Robot/c001_episode_002580/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_002580/source/meta.json

@@ -41,9 +41,9 @@
   "hard": {
     "hard_k": 1,
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 0, 5]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 2.33] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 6f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 0, 5] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 2.33] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 6 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_002580/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": [
@@ -5296,9 +5296,9 @@
       "target": "painted_tin_can"
     },
     "hard_reasons": [
-      "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [1, 0, 5]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
-      "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 2.33] < 5.0cm (못 봤지만 잃은 것도 없다)",
-      "④3캠 합산 occluded 6f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
+      "① longest invisible run per camera ['cam00', 'cam01', 'cam02']: [1, 0, 5] f < 30 f (a single camera sees the target over the whole clip)",
+      "③ target displacement during the invisible runs per camera ['cam00', 'cam01', 'cam02']: [None, None, 2.33] < 5.0 cm (not seen, but nothing was missed)",
+      "④ occluded frames summed over the 3 cameras: 6 f < 20 f — camera rotation (out_of_frustum) alone cannot meet this condition; real occlusion by the arms or distractors is needed"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -8806,5 +8806,5 @@
       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_002960/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "9d47cb74e3bf5516cdd055d69fc8a9c63b3d889a12a1a6c00f2697ed3fdae2e8",
   "labels/objects.json": "553fdd467516ab660d6c3c7bc5e522dffbf199e63c42fcba4cf0175555f94e4b",
   "labels/visibility_states.json": "cc11058a2d7897231bb29ba59602dc739ca0db750c38cf622e888e93879e7c74",
-  "source/cameras.json": "5cb279dc33dfca70330cba92afe1ed6fdb2fb7d7e0cb27611c880d74e78a5410",
+  "source/cameras.json": "9a023ad89d420f965ad3cdb693e5d89efe72ef465b9f458a2212c6a39a66c5e9",
   "source/caption.txt": "4f563d296c6100b3f7b13a12c8bf0e8c51f57bd8a010186cd4a2d2e123c1cf2d",
-  "source/meta.json": "a43bdc6223a47b9b899e1da1f8d380a4731e4a28cbf71a8a13642243cfa28247",
-  "source/points_target.npz": "0e53627792bd0ae57e47d6a9c7af994a91fd0ad0e4caac5f9e8a11304497ff1c",
-  "source/visibility.json": "1a3515fb31ee9776b9c5bd6512283164f9a58d4387164aa52d8eb2f084ee0731",
+  "source/meta.json": "710b6d505a02324c4e4e89c9f7ab1280a7d2c675289fd5c8d80aff6c7272e94d",
+  "source/points_target.npz": "493fca178fd300244bbca1941ddfda15b12c47398edef876071303a787092629",
+  "source/visibility.json": "63a1cd464e21373df6648c0a2c7e1d70a2d23c23d0777e728911c3657c3f760e",
   "tracks3d.npz": "b38d65a902db9f3095585297b93ff470605b446b90bb0c94620983a5f9cba704",
   "videos/view0.mp4": "ee49d6de7dac40e3d7cb5b88a3bc97f264a1636efbe76f211673466b436cb883",
   "videos/view1.mp4": "ea4861d1aa0743d8d1fa1a92cb81c83f00c5eb716670167a573332606a914b25",

Simul-Robot/c001_episode_002960/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_002960/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_002960/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": {
     "green_tuna_can": [
@@ -4990,9 +4990,9 @@
       "target": "green_tuna_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,
@@ -8300,5 +8300,5 @@
       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/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_003220/sample.json

@@ -217,11 +217,11 @@
   "depth/depth.zip": "3e16cbc7beedfd1ea4359be745fd975f09f04c814515bbb895477d700dd8d3d1",
   "labels/objects.json": "984fbd3feea0c77dedbf4ca85040c5d46717b657035c0a828dcb3e47cfe40c68",
   "labels/visibility_states.json": "e4736bc0f5a681ae053d07c76c6820dc79f7a1c32338a3da8c7ca9a3b5e4d487",
-  "source/cameras.json": "5f2602a54a2aef352bb6f5ebfcbc508979cf2f8010251549a55c7a5a057edf00",
+  "source/cameras.json": "b4206af82efae4f7382253ea3a217fafa0fb68c9d50b44077b96de89f32ad514",
   "source/caption.txt": "781d76e7c45bf7a35855b62be94e93dfc0f5f191bb32917cea5f2cba44c8c833",
-  "source/meta.json": "c4b5ff78b3619fa71dff8a76352eba82149195d75e3d4d4645ec11938e37649b",
-  "source/points_target.npz": "f71385f97fa7f38b17096b41d8dc9a79e191542f2da5f093d8e8eb991442838c",
-  "source/visibility.json": "dc7fa42e5d20bee350265e8771115f18e9f0eaf6e4e56b21bbf51186bbe7d2fe",
+  "source/meta.json": "5d17c88f89d1ab132f81ffa2f1e2b45c0a667e4d834c570ad42ae30c1ca44788",
+  "source/points_target.npz": "8d9e7471f2bacfbb77c06f5bfa1080bcef7376d11433735cd7e11f74cc01e5f3",
+  "source/visibility.json": "825f6bb2c900334138aea7454b09c140a920c25f7d2338ef466bdf657fd9cfa9",
   "tracks3d.npz": "87b46e14f03d3c20435794efe3a4039a06ddb80d1993da8e95c272dc1cae1e79",
   "videos/view0.mp4": "cc70ed23789e4e22fd626e0ea00324bec1d08885cf16cc0e6f643cd27659693b",
   "videos/view1.mp4": "236bcfe3731d85312b0a98aa15f959cab62c22639fa3354ed35e578d22860dba",

Simul-Robot/c001_episode_003220/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_003220/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_003220/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": {
     "green_tuna_can": [
@@ -5290,9 +5290,9 @@
       "target": "green_tuna_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,
@@ -8800,5 +8800,5 @@
       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_004640/sample.json

@@ -222,11 +222,11 @@
   "depth/depth.zip": "527dc2b2946b7d17f9c2aa4c0b1f8124646c5c48f4653118a4736299b9416b06",
   "labels/objects.json": "a0c9ea23400cb574e1d015d1b36fdd94fb10b924ac1d3ea5ed72485b3c90de33",
   "labels/visibility_states.json": "7aafe6d991de84185dc8976e336b6dd29a051b9aed53a00606915c3684182a9a",
-  "source/cameras.json": "30e83f8603086426d199e11a8085aa19cf31db263a7352b36dcce951847c2f6f",
+  "source/cameras.json": "2fce6178625bfd8b4b2522ec1697878e560b7affeac12d99095254b4922802d0",
   "source/caption.txt": "fa68458e72540e56f90372ce2938d97b09fa22151d42575907edf4100a58663a",
   "source/meta.json": "3dea98637fa30a652a15c1c5839c65af0343407f7db94ba892d8bbdef86fce96",
-  "source/points_target.npz": "e01a6531be766e0402402c5a9e292ef69ebc0d0e7f8119529dfe7ebd00876e4b",
-  "source/visibility.json": "ef2714132727de51af4fcc84a753d1faeaa490a1c9513b23aa2ead7a1700576f",
+  "source/points_target.npz": "0a114ae57ddfa6d17fc5b6fed07a82cdfd588812032b9c36bdc3735650b8f032",
+  "source/visibility.json": "acc0abf89338ca5a9a07ecd9cd2e11c4e11b09fc878599c545dee248f49cd577",
   "tracks3d.npz": "7f3253798ceb6efac9625d4fd415c28d9403fbc40b6335b5441716108e86ba77",
   "videos/view0.mp4": "503505b5ed969a2b7769dbc34bf55224b8b5d4b699279753aeb31becee18d2e3",
   "videos/view1.mp4": "66a701482a0be8f6f1e55a9122342a1806ea1116c4a6c035ad2c938ed4d30e24",

Simul-Robot/c001_episode_004640/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_004640/source/visibility.json

@@ -36,7 +36,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_rimmed_plate": [
@@ -7945,5 +7945,5 @@
       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_005240/sample.json

@@ -218,11 +218,11 @@
   "depth/depth.zip": "4994afe1ebf7465fcc11c06c8fff086573c3dba5fc83a0f567b8a6593210328b",
   "labels/objects.json": "af14bd9c53be185ff42b8e47f9a948415c5d8042d3b49b85b84ff259ffc5d81e",
   "labels/visibility_states.json": "a2f3201e4aff20e6993a57901dd8fad64cddd859463e738f1046577f92f36177",
-  "source/cameras.json": "e81638bcd612ffc06b287593f4489bb320628539804d53e06201d0fc37563c34",
+  "source/cameras.json": "2e3af43510b538d7e0e615d541b4c126731163a43f56e714fcc111a1f6fc3f4c",
   "source/caption.txt": "2535d214d719955faa364530774399ca02f4453258e429b30b59d20d74f03332",
-  "source/meta.json": "837f9921056103e8d24021ad107257c0d39f2b320bbebe81ad26db2d4f1a72cf",
-  "source/points_target.npz": "47a01a13c59e8cfa3c5b898b518394ad5d8ee6480d0d84a4c970d488843dedec",
-  "source/visibility.json": "3c07f850698f8caa08d9a6d92b0a3aa9fff12ed4071a19c9347c147f25b8b1ea",
+  "source/meta.json": "5d94dda5f88799114ce44491729e348b9939ff684fded9aa6f420807d2706a10",
+  "source/points_target.npz": "fdc0c65b832517af34d198777ff0d4461159f766dee62fb10bc1676ef5bcf014",
+  "source/visibility.json": "188af37becc6ded5c47f04b44a95d9821baa3e25fd7ee1a4d776bf4c799037f7",
   "tracks3d.npz": "1dcecbf0448c49830420d3aeede9d99cc6448e6f3dbcea1699dbb1a0620aef5f",
   "videos/view0.mp4": "c6da399bfd40c6df8a1846bf9d372357e5690bf72a1591a0cc6541b81b1f2a2f",
   "videos/view1.mp4": "bf04c5449a617d7f28275ce0142f8998d665d06395913d2942e2857f0c84ea77",

Simul-Robot/c001_episode_005240/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_005240/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, 1.8] < 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, 1.8] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_005240/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": {
     "bbq_sauce_bottle": [
@@ -15593,8 +15593,8 @@
       "target": "small_blue_bottle"
     },
     "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, 1.8] < 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, 1.8] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -15604,12 +15604,12 @@
     },
     "relay": null,
     "hard_target": "small_blue_bottle",
-    "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 14:01:39",
       "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": {
@@ -27264,5 +27264,5 @@
       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_005290/sample.json

@@ -219,11 +219,11 @@
   "depth/depth.zip": "ac449472da303dcd5ba8c240dd761d2bdadd3980a3fff0399b133c8b999a6c47",
   "labels/objects.json": "7ba4dc958684c723f08c4cf106316b7bddbc94a37889792adee8d8a383db7666",
   "labels/visibility_states.json": "86b64f37107068ae653eb40043ef359b30b73a5d839e74403cb302528e8fd911",
-  "source/cameras.json": "82a7ec41e5d29fb7595f77fa57e537b5966ec92c43f53aa5781161a2c0d265da",
+  "source/cameras.json": "ccbc5e0d599fe82b308331e7824718c0a91bf4a52481468f5361bb4695280a31",
   "source/caption.txt": "93b2e45a70993a3887f363890442dde5c199b111b9146571b5b643521a956f81",
-  "source/meta.json": "b147efb7b2313edfbcda6d6040666b19d78babaa83697e1dad841ca1c16146c6",
-  "source/points_target.npz": "7dbde0f27e6cbb07dd541edb25d15e33b0faf2d2d918243074d42640053f3f6d",
-  "source/visibility.json": "784a47bc45e84d5aef81063c95cb1d6e1a9905b9eab33784bfb355e1daa6d7d3",
+  "source/meta.json": "c7f0ba7a0876e539de7c4d7a38f44faff4a842d6c02977976d16b075a1acedd5",
+  "source/points_target.npz": "5b9c1ca4ae988d1f85319dde474e3d13e5cd473fd086309ed655c82e57ca9a29",
+  "source/visibility.json": "c0ece26ffcb8070cfa0001462879b337714a409de500b485c3c79b49f9360afd",
   "tracks3d.npz": "d11f01f4c7f702fb7aa3635d6224182864cb61fbf1768f488d62bd8c7ca60490",
   "videos/view0.mp4": "5c28dc13af2a15f2071cdc04e854d40171af842bbb73d2f17182d6c3b78e2d36",
   "videos/view1.mp4": "061b0fa6525bb594f9b98e1cb80891608acd49455c0c6a003e0450f57b673b6a",

Simul-Robot/c001_episode_005290/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_005290/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_005290/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": {
     "bbq_sauce_bottle": [
@@ -16311,9 +16311,9 @@
       "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,
@@ -16323,12 +16323,12 @@
     },
     "relay": null,
     "hard_target": "bbq_sauce_bottle",
-    "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 14:01:44",
       "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": {
@@ -28523,5 +28523,5 @@
       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_006190/sample.json

@@ -223,11 +223,11 @@
   "depth/depth.zip": "431e2fe1e5d21f22234f6b5c4609c241c054cfb40357679d7f987a3fab83697d",
   "labels/objects.json": "a5fe43777d0ef7438ef764350299cb56063a1a69005f92eb4b97181b6a0fa710",
   "labels/visibility_states.json": "606d73c6f97cf8751c1988ed58574f62b5baace41f91eebadc93842099991418",
-  "source/cameras.json": "adcfe98d956eb9ff09bb0d9a3d247f6b17dd4d490363b97ecbe6123851bf8908",
+  "source/cameras.json": "c21e54eb4d6a985601547ab20c7a5007b25df6fedc7fdcb3ee7c73795985ef84",
   "source/caption.txt": "0f273fa492e15fd6522b23636c3ecee7580453bf13057031d190e635af0fc700",
   "source/meta.json": "44c00e088f87d10f9d3a95bd2f91ee7560938b7f145c3802ea8d34791954b604",
-  "source/points_target.npz": "1e7a8e63567547212611c2bd9be9146ccb33ce382c2f8ed7a6eb0dcf23a7dfb0",
-  "source/visibility.json": "30b13a2ec4c89586659aaee4f6baf39fdf2bf603ff96801550f6d2551b51a8ac",
+  "source/points_target.npz": "42e4f6679cdab30cc04031e15b012cfce4f98e6905db940548a7662a92f522f9",
+  "source/visibility.json": "b671bf9b25817d8ea1932aa3b52c9bad0360add61a2b5be779936b2c96730d1d",
   "tracks3d.npz": "86f33bba3db5bdf62c5f115f6f11d497982ecc08f2f0e2d99d8cfa572d0e4a04",
   "videos/view0.mp4": "7c1aa2f0af7781f5403865a77da8d861253e056c6531f9bf7fb910712b866169",
   "videos/view1.mp4": "28045fad8d517da2727dc65d33394bceec4e3aba97095814c09ca0a91f14d8c8",

Simul-Robot/c001_episode_006190/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_006190/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": {
     "microwave_popcorn_box": [
@@ -25859,5 +25859,5 @@
       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_006240/sample.json

@@ -224,11 +224,11 @@
   "depth/depth.zip": "d4c90b7cad9929246efe6221b1bdfd65bcf7a7bf0bebf763b4068566ea8ed28a",
   "labels/objects.json": "68bc7daa8474d4e0e1d2e67c76cbb2983e43714be85b14005b73095ec329a7ff",
   "labels/visibility_states.json": "9cbe4843e531f3848c87321557c1cf078c3da59a09412768ba3947a22d0e56f0",
-  "source/cameras.json": "2fdc546d03ecbf11e785f985d70378e3950a04e8ef61030fbc3c6c9c397ee3fa",
+  "source/cameras.json": "c3f3788d8db3b171973caaa546f7653125c891cbb2587b294187347a7e4b0f49",
   "source/caption.txt": "62a8ff9d956c51a7b314b4d0c51c53434d3a41f5e9a08d54a24d8e9917fa125e",
   "source/meta.json": "62157660514a55e8c03c0fbcdb913868b81f5bdb2c62518d35369b72ee42fd34",
-  "source/points_target.npz": "7209a786a2e0674b62ba2caa34c0df32555e6e89da4036dacc1c4dd67331988f",
-  "source/visibility.json": "7a666bde5f841bc6f58a733fe2aeb2f1852a2ac35a383aab47bf62c3f78400cd",
+  "source/points_target.npz": "d6721d61e42c54db3f4b8f38aeb1af3ecc0f78d19fa770bdecd7e8fdd7f628cf",
+  "source/visibility.json": "b8fa2a4f93feb5f8a8f3ab84dbbfdfa15a5ea11a34bd2f90dd3465ac24028f49",
   "tracks3d.npz": "316c7793a4ddc5ac7aa8d70802d2e6692261ecc46c068ba7cb9973497da2a135",
   "videos/view0.mp4": "1c761a881619609346b41648724772ac570af606b41a354d0c1e663a0a9e7be9",
   "videos/view1.mp4": "329428936734d7f625fa62a790f9cf57c74c68b8b156894a59dc54b763cdd865",

Simul-Robot/c001_episode_006240/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_006240/source/visibility.json

@@ -42,7 +42,7 @@
   "states_rule": {
     "occluded_visible_frac_max": 0.1,
     "denominator": "points inside frustum",
-    "note": "visible ⟺ (프러스텀 안 표면점 중 보이는 비율) > 임계. 임계 0.0 은 '한 점이라도 보이면 visible' 과 같다."
+    "note": "visible ⟺ (share of the in-frustum surface points that are visible) > threshold. A threshold of 0.0 is the same as 'visible if at least one point is visible'."
   },
   "visibility": {
     "red_plastic_tote": [
@@ -25930,5 +25930,5 @@
       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_006520/sample.json

@@ -220,11 +220,11 @@
   "depth/depth.zip": "45fccf108305847f21ad7f3d50c5fbecaf1e449eeed313c82576d1515133b6d3",
   "labels/objects.json": "2354f3b9d1e64a117a77783cdfa4e1e934b456ada9b2a90156eeb3d0274a5da8",
   "labels/visibility_states.json": "b93ce3d21ed89d67006a08a6a9f0d88e4d41c142a1df73b95e89b385a490a1ff",
-  "source/cameras.json": "f1eaf40d3719afc9b299c9056da73dca7bc91c9ff791a4c67e1882a511aca067",
+  "source/cameras.json": "a67867101a4b4327ed702a0bd75b73ef1fb7983cfebfa76b3efbf54068aafd84",
   "source/caption.txt": "3419c65e0c00e67dc1bc1c68571aaadcbf7a6389902825147a0ef362c8036ed4",
-  "source/meta.json": "71c2ee12d023fc807ec6a16798242a8f70f50ab604dbb99bcc303e2bd9c3040f",
-  "source/points_target.npz": "d73b900be2a930e72d8d1d0dbcc8dd4f6a89e8bdd899ad15522b31baa099c4db",
-  "source/visibility.json": "bd76b1c5434af517dc1e0392f149e29a6ee14574cab40b75f1253e52f9cd20c7",
+  "source/meta.json": "8a6668fe106e57a15b97fc5d396934b8c5fd4275ece4e28ffaf1076c9746cf97",
+  "source/points_target.npz": "db9a34c0b6c859d62dbb225a29490290adf88b1567719f405fd7640a57e035db",
+  "source/visibility.json": "0df1bfc9f947b5e56c9842b4fa5a22c1e89a0262454b070286844ca041657cdd",
   "tracks3d.npz": "a5abddc8789f0473750dc346fef9eb55a3cdd14f3097a37351832788859e9287",
   "videos/view0.mp4": "41887bd176f98dc3698e66432175bea917e1f4be4fd521d46399ca4ae021e9ef",
   "videos/view1.mp4": "eec680b5a896535d2c378686b33a0febbf80996cd56e1ede8e1c5d9a161bd9f3",

Simul-Robot/c001_episode_006520/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_006520/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, 2.13] < 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, 2.13] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_metrics": {
       "num_cams": 3,

Simul-Robot/c001_episode_006520/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": [
@@ -18273,8 +18273,8 @@
       "target": "green_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, 2.13] < 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, 2.13] < 5.0 cm (not seen, but nothing was missed)"
     ],
     "hard_thresholds": {
       "hard_blind_min_frames": 30,
@@ -31946,5 +31946,5 @@
       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."
 }