{"config":{"maximum_age_seconds":0.1,"maximum_colour_pixels":20000,"maximum_depth_m":3.0,"maximum_depth_residual_m":0.008,"maximum_tilt_rad":0.10471975511965978,"minimum_component_pixels":12,"minimum_depth_m":0.05,"minimum_green_intensity":8,"minimum_mask_iou":0.7,"minimum_red_intensity":25,"minimum_span_fraction":0.6,"minimum_top_pixels":6,"minimum_visibility":0.86,"plane_tolerance_m":0.0007,"side_m":0.04,"yaw_grid_steps":180},"created_unix_seconds":1793511027.693856,"development_evidence":{"manifest.json":{"bytes":163537,"sha256":"9cc1bf07b2a42bd969b47ff3dca5a2d09b3efdae637f84f102133c562c04cde3"},"predictions.json":{"bytes":324295,"sha256":"d1c6c9cc6c601514b27bd12b978ee19e0ed1037e6f3b7b40e083a60d9980a505"},"report.json":{"bytes":232935,"sha256":"73f341acb96577607f23aecce8b89fe038ec45925e033b0d60404617a4534f9f"}},"development_only":true,"development_rendering_lineage":{"manifest_sha256":"9cc1bf07b2a42bd969b47ff3dca5a2d09b3efdae637f84f102133c562c04cde3","reused_earlier_rendering_sources":true,"scope":"Exact rendered files and receipts verified; reuse never substitutes earlier estimator predictions.","source_hashes":{"action_demonstration.py":"439c7cce558571221660cd51e7dba1675203237706ea8ea0f97f2fcf9a6a24c5","piper_action_capture.py":"ee20549f9bd239a2314c28947a0c69dd7c2b11150475685747a2c7dc0f8b399e","piper_rgbd_benchmark.py":"a26dd06943de24a62205d3e1453ed900dd56816386321e002932403c521cc532","piper_rgbd_tracker.py":"902ca6fcc524cfce81f3c4afd769204535c78e6c8f6c24fd2a5e07af9e4c5683","piper_task.py":"e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","robot_profiles.lock.json":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","robot_profiles.py":"fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d"}},"protocol_sha256":"811e9daee34a95530ee50824636cc22dac2d98f8a61215d400e5b8ac252b6158","renderer_bindings":{"160":{"assets":{"bytes_verified":34562302,"commit":"0059d4335f8156206f63a35662313385f7ad6d74","files_verified":90,"lock_sha256":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","profile":"piper","repository":"https://github.com/google-deepmind/mujoco_menagerie","simulation_asset_license":"MIT"},"base_position_m":[0.0,0.0,0.0],"base_rotation":[[1.0,0.0,0.0],[0.0,1.0,0.0],[0.0,0.0,1.0]],"calibration":{"base_frame":"robot_base","base_from_camera":[0.7071067811865475,0.49999999572143217,-0.5000000042785677,0.800000011920929,0.7071067811865475,-0.49999999572143217,0.5000000042785677,-0.5,0.0,-0.7071067872373561,-0.7071067751357388,0.827106773853302,0.0,0.0,0.0,1.0],"camera_frame":"rgbd_optical","depth_units":"m","id":"native-fixed-perspective-v1","intrinsics":{"cx":80.0,"cy":60.0,"fx":144.85281986557737,"fy":144.85281986557737,"height":120,"width":160},"tool_frame":"link6","valid_from_seconds":0.0,"valid_until_seconds":1.0},"camera":{"calibration_scope":"Exact configured synthetic renderer/base transform; not hardware or depth-accuracy calibration.","depth":"NPY v1+, little-endian float32 H\u00d7W, metres along optical z; no pickle; far-plane background retained","depth_accuracy_verified":false,"exposure":"Instantaneous synthetic exposure at a paused simulator boundary; no rolling shutter or physical delivery latency.","gl_context":"mujoco.cgl","optical_axes":"x right, y down, z forward","pixel_origin":"top-left; sample centre at (column+.5,row+.5)","renderer":"mujoco.rendering.classic.renderer.Renderer","renderer_warnings_location":"capture.json native_status.renderer_warnings","rgb":"lossless PNG, uint8 RGB, H\u00d7W\u00d73"},"header_binding":{"calibration_sha256":"2526fc2bdca0dbd0c8c633f80e1776140baa87f01cf13f24e1664989a9f5cdb8","configuration_sha256":"4ec9746ae5e0a0cd2e01bea8fa433611f73328789632125f9a8c458c721f800d","limits_sha256":"1bc24b12c655979dc468898640b008a165a424332773b14e54be115eb2d19d30","model_sha256":"9c12b9437e4825685921a229129e2154a225e308593f227d17042852926e060f","profile_lock_sha256":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","profile_record_sha256":"7d37252aa93148e2adbb74fec2a9bfa6d4b0ddd691cbbf53ce9871708dfb0277","reference_policy_sha256":"e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f","scene_sha256":"03123435cb6d0337a318e500d2eb46721733a1c22b968836a8874dd3caca0bc1"},"object_half_size_m":[0.02,0.02,0.02],"object_rgba":[0.75,0.30000001192092896,0.1599999964237213,1.0],"orientation_equivalence":"upright yaw modulo pi/2","runtime":{"machine":"arm64","mujoco":"3.15.0","numpy":"2.5.3","python":"3.12.9","system":"Darwin"}},"320":{"assets":{"bytes_verified":34562302,"commit":"0059d4335f8156206f63a35662313385f7ad6d74","files_verified":90,"lock_sha256":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","profile":"piper","repository":"https://github.com/google-deepmind/mujoco_menagerie","simulation_asset_license":"MIT"},"base_position_m":[0.0,0.0,0.0],"base_rotation":[[1.0,0.0,0.0],[0.0,1.0,0.0],[0.0,0.0,1.0]],"calibration":{"base_frame":"robot_base","base_from_camera":[0.7071067811865475,0.49999999572143217,-0.5000000042785677,0.800000011920929,0.7071067811865475,-0.49999999572143217,0.5000000042785677,-0.5,0.0,-0.7071067872373561,-0.7071067751357388,0.827106773853302,0.0,0.0,0.0,1.0],"camera_frame":"rgbd_optical","depth_units":"m","id":"native-fixed-perspective-v1","intrinsics":{"cx":160.0,"cy":120.0,"fx":289.70563973115475,"fy":289.70563973115475,"height":240,"width":320},"tool_frame":"link6","valid_from_seconds":0.0,"valid_until_seconds":1.0},"camera":{"calibration_scope":"Exact configured synthetic renderer/base transform; not hardware or depth-accuracy calibration.","depth":"NPY v1+, little-endian float32 H\u00d7W, metres along optical z; no pickle; far-plane background retained","depth_accuracy_verified":false,"exposure":"Instantaneous synthetic exposure at a paused simulator boundary; no rolling shutter or physical delivery latency.","gl_context":"mujoco.cgl","optical_axes":"x right, y down, z forward","pixel_origin":"top-left; sample centre at (column+.5,row+.5)","renderer":"mujoco.rendering.classic.renderer.Renderer","renderer_warnings_location":"capture.json native_status.renderer_warnings","rgb":"lossless PNG, uint8 RGB, H\u00d7W\u00d73"},"header_binding":{"calibration_sha256":"6ee07f822f6d67da4acd5755302d54b1194aa67c60eb38174402fafdb6c3eb32","configuration_sha256":"a8ad40947491ac6bb9d8afbeb82e76650cb5efe3fc1151e5330d43763c511314","limits_sha256":"1bc24b12c655979dc468898640b008a165a424332773b14e54be115eb2d19d30","model_sha256":"9c12b9437e4825685921a229129e2154a225e308593f227d17042852926e060f","profile_lock_sha256":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","profile_record_sha256":"7d37252aa93148e2adbb74fec2a9bfa6d4b0ddd691cbbf53ce9871708dfb0277","reference_policy_sha256":"e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f","scene_sha256":"03123435cb6d0337a318e500d2eb46721733a1c22b968836a8874dd3caca0bc1"},"object_half_size_m":[0.02,0.02,0.02],"object_rgba":[0.75,0.30000001192092896,0.1599999964237213,1.0],"orientation_equivalence":"upright yaw modulo pi/2","runtime":{"machine":"arm64","mujoco":"3.15.0","numpy":"2.5.3","python":"3.12.9","system":"Darwin"}}},"runtime":{"machine":"arm64","mujoco":"3.15.0","numpy":"2.5.3","python":"3.12.9","renderer_sha256":"032dcf867d804af816dea672fd7db422a0a4114c2aa578a2c6542fd48cc5faf0","system":"Darwin"},"schema":"dvidia.piper-rgbd-benchmark/v1","sources":{"action_demonstration.py":"439c7cce558571221660cd51e7dba1675203237706ea8ea0f97f2fcf9a6a24c5","piper_action_capture.py":"ee20549f9bd239a2314c28947a0c69dd7c2b11150475685747a2c7dc0f8b399e","piper_rgbd_benchmark.py":"5a7c9d822961338e8b99291a94d03983bda8b345221d7334d22162ef039dd55c","piper_rgbd_tracker.py":"43202cfcea404061a3a65124d6ad24aeeec5fae8ffaf863caa245f2f54c46c36","piper_task.py":"e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","robot_profiles.lock.json":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","robot_profiles.py":"fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d"}}
