---
license: mit
task_categories:
- robotics
tags:
- robotics
- mujoco
- manipulation
- camera-calibration
---

# V10.10 table-camera validation set

Ten pick-and-place demonstrations from the `pact_place_corridor_v10_10_four_object` environment, re-run with one
extra **fixed exterior table camera** (`exo_camera_1`) so the camera schema can be
validated end to end before it is used at scale.

This is a *schema* validation set, not a training corpus. The 144-row V10.10
training corpus is unchanged and is not part of this repo.

## What each row guarantees

Every published row was checked before upload and carries:

- `episode_00000000_exo_camera_1.mp4` — decodable exterior RGB, frame count equal to the
  trajectory's frame count;
- `traj_0/obs/sensor_param/exo_camera_1` in `trajectory.h5`, holding `extrinsic_cv` `(T,3,4)`,
  `cam2world_gl` `(T,4,4)` and `intrinsic_cv` `(T,3,3)`, all finite `float64`;
- **a genuinely fixed pose** — the within-episode max delta of all three
  calibration arrays is exactly `0.0`, so the camera does not drift across the
  episode.

## Read this before you reuse an extrinsic

The camera is fixed *within* an episode but **re-drawn between episodes**. All
ten sit at the same height on a near-constant ground radius, at a different
azimuth each time, and they share one intrinsic matrix. Concretely:

- height: **1.650 m** (identical on all ten)
- ground radius: **1.022–1.079 m** (spread 56 mm)
- azimuth: **-163.1° to -136.8°**
- intrinsics shared across episodes: **yes**

So load the extrinsic from the episode you are projecting. Reading one episode's
`extrinsic_cv` and reusing it across the set will silently misproject the other
nine — the intrinsics match, so nothing will look obviously wrong.

`manifest.json` records those checks per row, along with a SHA-256 for every
uploaded file. Each row is also a *clean* success under the collection's own
predicate: the task succeeded and no contact was made with clutter, the hazard
bar, mounted fixtures or the rest of the environment.

## Layout

```
pact_place_corridor_v10_10_tablecam_validation10/
  manifest.json        per-row metadata, camera validation and file hashes
  ledger.jsonl         the full run ledger, including rejected attempts
  contract.json        the frozen run contract
  rows/NNN_<row>/      one directory per accepted episode
```

Per-row files: `trajectory.h5`, `result.json`, and MP4s for the exterior camera
(RGB + depth), the wrist camera (RGB + depth) and the proximity-sensor heatmap.

## Coverage

Ten cells spanning four layout families, both intrusion sides and all three
pendant poses. Cells and seeds are listed in `manifest.json`.

## One inconsistency worth naming

`result.json` in row `008` (F0_target_side_stagger|left|pos5) is far larger than the others (~73 MB vs ~11 KB): that row was
collected before per-frame contact-audit summarisation was enabled.
The trajectories, videos and calibration are unaffected.