Add 150case_data_enhance_blender_v3_human_align: 111 verified episodes

150case_data_enhance_blender_v3_human_align/README.md

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+# S1 human-aligned cup stacking trajectories — LeRobot v2.1
+
+**111 admitted episodes, 49950 frames, 333 videos.**
+This is `starry0929/rssr/150case_data_enhance_blender_v3_human_align`. The frozen source is exactly the111 published
+episodes in `150case_data_enhance_blender_v2_trajectory_refine` at
+`098642c9e57dfa933db9d8976564a55bd740a1ea` (92 original-clean +19 refined).
+Those111 are the baseline scope, not a claim that all111 new trajectories passed.
+Current baseline coverage is 111/111; 0 sources are absent.
+`meta/coverage.json` distinguishes unprocessed, rejected, and admitted-but-unrendered
+sources. S4 short-refine held trajectories are not reused as native data or videos.
+
+New trajectories use direct, coordinated dual-arm motion with one successful
+acquisition per cup and the original full cup-stacking task and release/stability
+requirements. Every admitted episode has final physical/replay/first-grasp,
+every-step geometry, and state-alias evidence. The end state and original causal
+action/state clock are retained; no video acceleration, cropping of action phases,
+object teleportation, or visual removal of the opposite arm is applied.
+
+All cross-side arm-arm, gripper-arm, gripper-gripper and wrist-camera-envelope
+pairs require at least20mm clearance. The wrist-camera envelope is an assumed
+90×40×40mm box, **not a measured camera housing**. The table retains the native
+collision hard checks without an additional20mm gap. These simulator checks and
+visually fitted camera extrinsics do not certify hardware calibration or real
+robot safety. Per-case geometry/alias scopes and limitations are preserved in
+the portable admission evidence; no stronger hardware guarantee is claimed.
+
+Each case keeps its baseline background, materials, lights and fixed camera
+mounts. All three views share one world and use native rigid-body poses.
+Three RGB videos are224×224 H.264,30fps, with at most450 frames (15s) per episode.
+`observation.state` contains32 actual scalar joints. `action` contains22 absolute
+desired joint positions in radians in the named native actuator order. The two
+gripper actions remain raw driver-joint targets; state and action have different
+layouts and must be mapped by joint name. No SDK calibration is claimed.
+
+The prefix itself is a LeRobot v2.1 root (`data/`, `videos/`, `meta/`).
+`meta/source_cases.jsonl` links each new episode to its exact published source.
+`evidence/` contains final gate receipts, gate artifacts, native task/replay
+evidence, source snapshot/lineage and rendering provenance. `checksums.json`
+covers every packaged file except itself. Group train/validation splits by
+`source_case_id` across physical variants. All currently packaged episodes use
+the train split. The publisher only adds this new prefix; source prefixes and
+other campaigns remain unchanged.
+
+Final coverage is exactly111/111 admitted sources,1665 verified logical chunks,
+49950 frames and333 videos. Each source contains450 frames at30fps.
+
+The CPU resources on ports7513/7514 were permanently withdrawn from this
+campaign. Their old remote process status remains unknown; resource withdrawal
+is not process-exit evidence. The15 affected logical chunks use independently
+rendered GPU replacements, exclusively. Late legacy CPU or adopted outputs are
+never selected for these15 indices. Other verified chunks retain their original
+encoded pictures. New `episodes_epoch05` assemblies preserve native actions,
+frame times, cameras, materials, lighting, gates and image renderer. The original
+CPU owner/failure records and files were not deleted or changed by this finalizer.
+Public evidence records the withdrawal fact and private attestation SHA, without
+publishing the private user statement.
+
+The strict state-alias check compares states within0.5 degrees, separated
+by at least0.5 seconds, over the following1 second of the22 action targets;
+a difference greater than5 degrees is rejected under the recorded definition.
+The exact admitted definitions and per-source coverage are in
+`meta/alias_gate_definitions.json`. Passing this numerical check does not imply
+that every ambiguity in the visual observations or a model latent representation
+has been eliminated.
+
+```json
+[
+  {
+    "state_max_difference_deg": 0.5,
+    "min_time_separation_s": 0.5,
+    "future_horizon_s": 1.0,
+    "action_difference_threshold_deg": 5.0,
+    "fps": 30,
+    "future_action_samples": "all 30fps labels including observation instant"
+  }
+]
+```

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