render request: 10 held-out tasks at the stage1_5k camera rig

spec/render_request_heldout10.json

@@ -0,0 +1,750 @@
+{
+ "schema": "axis_heldout_render_request_v1",
+ "why": "These 10 tasks are the ONLY quality-eligible tasks absent from the stage1_5k pretraining corpus, so they are the only ones that can serve as a held-out benchmark for models pretrained on it. They currently exist ONLY at the superseded camera rig, so they must be re-rendered at the pretraining rig or every evaluated arm suffers a train/eval viewpoint mismatch.",
+ "embodiment": "franka (default)",
+ "camera_group": "camera_fixed",
+ "required_rig": {
+  "note": "MUST match stage1_5k_camera_fixed exactly. Verified identical across sampled tasks of Franka-Datasets-v2-5k-LIBERO and -30k-LIBERO.",
+  "wrist": {
+   "mount": "end-effector body",
+   "hand_to_camera_translation": [
+    0.05,
+    0.0,
+    0.0
+   ],
+   "quat": [
+    0.0,
+    0.707108,
+    0.707108,
+    0.0
+   ],
+   "fovy_deg": 75.0
+  },
+  "third_person": {
+   "camera_to_world_translation": [
+    1.0086,
+    0.0,
+    1.1904
+   ]
+  },
+  "source_resolution": [
+   640,
+   360
+  ],
+  "fps": 15
+ },
+ "demos_per_task": 20,
+ "total_episodes": 200,
+ "tasks": [
+  {
+   "task_id": 809,
+   "name": "separate the sandwich from the juice",
+   "operation": "separate",
+   "n_demos": 20,
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
+   "task_id": 811,
+   "name": "reach target pose",
+   "operation": "reach",
+   "n_demos": 20,
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
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+   "name": "rotate the computer mouse",
+   "operation": "rotate",
+   "n_demos": 20,
+   "attempt_ids": [
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
+   "task_id": 868,
+   "name": "pick single rigid object",
+   "operation": "pick",
+   "n_demos": 20,
+   "attempt_ids": [
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
+   "task_id": 945,
+   "name": "put both the potato and the pepper in the bowl",
+   "operation": "put_into",
+   "n_demos": 20,
+   "attempt_ids": [
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
+   "task_id": 953,
+   "name": "put the muffin on the left side of the cup",
+   "operation": "put_spatial",
+   "n_demos": 20,
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
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+   "name": "put the eyeglasses case on the tissue box",
+   "operation": "put_on",
+   "n_demos": 20,
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
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+   "name": "rearrange three items",
+   "operation": "rearrange",
+   "n_demos": 20,
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  },
+  {
+   "task_id": 1459,
+   "name": "fit lid onto container",
+   "operation": "insert",
+   "n_demos": 20,
+   "attempt_ids": [
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+  },
+  {
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+   "name": "put the kiwi beside the banana",
+   "operation": "put_beside",
+   "n_demos": 20,
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+   "note": "attempt_id is the stable identity; survey traces and goals already exist for these"
+  }
+ ]
+}