Upload calibrated QSim environment inspection views

README.md

@@ -0,0 +1,25 @@
+---
+pretty_name: QSim Environment Inspection
+license: other
+task_categories:
+  - robotics
+tags:
+  - isaac-sim
+  - synthetic-data
+  - robotics
+  - openarm
+  - qsim
+---
+
+# QSim environment inspection
+
+Static inspection views from the calibrated QSim OpenArm / OMAR / SAMLA
+environment, rendered headlessly with Isaac Sim RTX Real-Time 2.
+
+The files include the robot context camera, environment overview, shelf and
+tote close-ups, both sides of the head-camera housing, and a combined contact
+sheet. These images are visual QA artifacts rather than a behavior-cloning
+episode.
+
+![All inspection views](camera_contact_sheet.png)
+

environment_render.json

@@ -0,0 +1,280 @@
+{
+  "generated_at_utc": "2026-08-12T21:07:00.159739+00:00",
+  "images": {
+    "context": {
+      "channels": 3,
+      "clipped_fraction": 0.0,
+      "clipped_high_fraction": 0.0,
+      "clipped_low_fraction": 0.0,
+      "dtype": "uint8",
+      "finite_fraction": 1.0,
+      "height": 376,
+      "is_sane": true,
+      "issues": [],
+      "maximum": 250.0,
+      "mean": 195.24602383063154,
+      "minimum": 19.0,
+      "normalized_mean": 0.7656706816887512,
+      "normalized_std": 0.20458962992686058,
+      "per_channel_mean": [
+        199.59918787993922,
+        193.91021561550153,
+        192.2286679964539
+      ],
+      "per_channel_std": [
+        50.488349779292705,
+        52.6395102616657,
+        53.06041517951375
+      ],
+      "std": 52.17035563134945,
+      "value_range": [
+        0.0,
+        255.0
+      ],
+      "width": 672
+    },
+    "head_front": {
+      "channels": 3,
+      "clipped_fraction": 0.00030532407407407407,
+      "clipped_high_fraction": 0.0,
+      "clipped_low_fraction": 0.00030532407407407407,
+      "dtype": "uint8",
+      "finite_fraction": 1.0,
+      "height": 900,
+      "is_sane": true,
+      "issues": [],
+      "maximum": 216.0,
+      "mean": 138.47292708333333,
+      "minimum": 1.0,
+      "normalized_mean": 0.5430310866013072,
+      "normalized_std": 0.2776091094459414,
+      "per_channel_mean": [
+        140.86742430555555,
+        138.37677291666665,
+        136.17458402777777
+      ],
+      "per_channel_std": [
+        71.3973423734441,
+        71.30860973283926,
+        69.5721631772884
+      ],
+      "std": 70.79032290871505,
+      "value_range": [
+        0.0,
+        255.0
+      ],
+      "width": 1600
+    },
+    "head_opposite": {
+      "channels": 3,
+      "clipped_fraction": 0.00045185185185185183,
+      "clipped_high_fraction": 0.0,
+      "clipped_low_fraction": 0.00045185185185185183,
+      "dtype": "uint8",
+      "finite_fraction": 1.0,
+      "height": 900,
+      "is_sane": true,
+      "issues": [],
+      "maximum": 236.0,
+      "mean": 161.69867685185184,
+      "minimum": 0.0,
+      "normalized_mean": 0.6341124582425562,
+      "normalized_std": 0.29287608801684734,
+      "per_channel_mean": [
+        163.5134576388889,
+        161.61023541666665,
+        159.9723375
+      ],
+      "per_channel_std": [
+        73.92602512724581,
+        74.58617683285424,
+        75.48771646807096
+      ],
+      "std": 74.68340244429606,
+      "value_range": [
+        0.0,
+        255.0
+      ],
+      "width": 1600
+    },
+    "overview": {
+      "channels": 3,
+      "clipped_fraction": 0.0005618055555555555,
+      "clipped_high_fraction": 0.0,
+      "clipped_low_fraction": 0.0005618055555555555,
+      "dtype": "uint8",
+      "finite_fraction": 1.0,
+      "height": 900,
+      "is_sane": true,
+      "issues": [],
+      "maximum": 252.0,
+      "mean": 170.70780810185184,
+      "minimum": 0.0,
+      "normalized_mean": 0.6694423847131444,
+      "normalized_std": 0.27624888329245817,
+      "per_channel_mean": [
+        174.27181736111112,
+        169.703675,
+        168.14793194444445
+      ],
+      "per_channel_std": [
+        70.19215568839093,
+        70.5163945956694,
+        70.47752369866133
+      ],
+      "std": 70.44346523957684,
+      "value_range": [
+        0.0,
+        255.0
+      ],
+      "width": 1600
+    },
+    "shelf_close": {
+      "channels": 3,
+      "clipped_fraction": 0.0,
+      "clipped_high_fraction": 0.0,
+      "clipped_low_fraction": 0.0,
+      "dtype": "uint8",
+      "finite_fraction": 1.0,
+      "height": 900,
+      "is_sane": true,
+      "issues": [],
+      "maximum": 252.0,
+      "mean": 182.01483425925926,
+      "minimum": 9.0,
+      "normalized_mean": 0.713783663761801,
+      "normalized_std": 0.2227790825614668,
+      "per_channel_mean": [
+        192.93666597222222,
+        178.1218986111111,
+        174.98593819444446
+      ],
+      "per_channel_std": [
+        51.21159694559029,
+        57.78831206707756,
+        59.46183824207536
+      ],
+      "std": 56.808666053174036,
+      "value_range": [
+        0.0,
+        255.0
+      ],
+      "width": 1600
+    },
+    "tote_close": {
+      "channels": 3,
+      "clipped_fraction": 0.0,
+      "clipped_high_fraction": 0.0,
+      "clipped_low_fraction": 0.0,
+      "dtype": "uint8",
+      "finite_fraction": 1.0,
+      "height": 900,
+      "is_sane": true,
+      "issues": [],
+      "maximum": 242.0,
+      "mean": 163.19100902777777,
+      "minimum": 11.0,
+      "normalized_mean": 0.639964741285403,
+      "normalized_std": 0.1477850654276824,
+      "per_channel_mean": [
+        169.30946319444445,
+        162.52586736111112,
+        157.73769652777779
+      ],
+      "per_channel_std": [
+        36.24812098429924,
+        37.64151253073993,
+        38.23734776693555
+      ],
+      "std": 37.68519168405901,
+      "value_range": [
+        0.0,
+        255.0
+      ],
+      "width": 1600
+    }
+  },
+  "metadata": {
+    "active_target_slot": "middle_6",
+    "artifacts": {
+      "contact_sheet": "outputs\\samla_openpbr_rt2_v11\\camera_contact_sheet.png",
+      "frames": {
+        "context": "outputs\\samla_openpbr_rt2_v11\\camera_context.png",
+        "head_front": "outputs\\samla_openpbr_rt2_v11\\camera_head_front.png",
+        "head_opposite": "outputs\\samla_openpbr_rt2_v11\\camera_head_opposite.png",
+        "overview": "outputs\\samla_openpbr_rt2_v11\\camera_overview.png",
+        "shelf_close": "outputs\\samla_openpbr_rt2_v11\\camera_shelf_close.png",
+        "tote_close": "outputs\\samla_openpbr_rt2_v11\\camera_tote_close.png"
+      }
+    },
+    "board_depth_m": 0.10000000149011612,
+    "board_to_rack_gap_m": 0.10500000228115014,
+    "board_top_height_m": 0.12000000011175871,
+    "board_world_bounds_m": {
+      "maximum": [
+        0.04800000065006316,
+        0.3100000023841858,
+        0.12000000011175871
+      ],
+      "minimum": [
+        -0.05200000084005296,
+        -0.3100000023841858,
+        0.10100000072270632
+      ]
+    },
+    "empty_slots": {
+      "middle": "middle_6",
+      "top": "top_7"
+    },
+    "episode_index": 0,
+    "experiment": "omar_solhetta_cumotion_procedural",
+    "middle_support_height_m": 0.25947720705795285,
+    "middle_to_tote_rim_offset_m": 0.0002948927812576052,
+    "populated_row_spacing_m": 0.19970577955245972,
+    "rack_extension_below_table_m": 0.13058768752938707,
+    "rack_height_above_table_m": 0.7999994844131469,
+    "rack_top_to_top_shelf_clearance_m": 0.3408164978027344,
+    "rack_width_m": 0.8999999761581421,
+    "rack_world_bounds_m": {
+      "maximum": [
+        0.5106912015186309,
+        0.4352569880790711,
+        0.7999994844131469
+      ],
+      "minimum": [
+        0.1530000029312133,
+        -0.46474298807907105,
+        -0.13058768752938707
+      ]
+    },
+    "robot_base_front_x_m": -0.1220000011920929,
+    "robot_base_to_board_gap_m": 0.07000000035203993,
+    "robot_camera_top_height_m": 0.880000015705705,
+    "robot_world_bounds_m": {
+      "maximum": [
+        9.783,
+        10.0,
+        0.880000015705705
+      ],
+      "minimum": [
+        -10.217,
+        -10.0,
+        0.0
+      ]
+    },
+    "sample_seed": 7385413,
+    "shelf_stock_count": 12,
+    "top_support_height_m": 0.45918298661041257,
+    "tote_rim_height_m": 0.25918231427669525,
+    "tote_to_rack_gap_m": 0.01749999995098106
+  },
+  "passed": true,
+  "schema": "qsim.camera_qa.v1",
+  "summary": {
+    "camera_count": 6,
+    "sane_image_count": 6,
+    "visibility_check_count": 0,
+    "visible_target_count": 0
+  },
+  "visibility": {}
+}