xspcz's picture
Upload complete 300-cases-per-category three-camera training set
01a2b39 verified
Raw History Blame Contribute Delete
21.9 kB
{
"background": {
"accent_color_rgb": [
0.17826949665648062,
0.4824737819255457,
0.6452360708579217
],
"cabinet_color_rgb": [
0.693244358808421,
0.7786050627700267,
0.7931252104725954
],
"floor_color_rgb": [
0.3354891362273759,
0.36311430312901427,
0.41416940677393554
],
"screen_color_rgb": [
0.5327789812413193,
0.7722798841206945,
0.876750565698418
],
"style": "clean_room",
"wall_color_rgb": [
0.8096567730628654,
0.8483792249350137,
0.8486370943030848
]
},
"camera_calibration": {
"K_px": [
[
1000.0000000000001,
0.0,
960.0
],
[
0.0,
1000.0000000000001,
600.0
],
[
0.0,
0.0,
1.0
]
],
"T_camera_from_world": [
[
0.9941431609633316,
-0.050371159170527244,
0.09561444364557488,
-0.13621816616963933
],
[
0.04615070711837635,
-0.6021328411238784,
-0.7970609474014897,
0.9842744682742511
],
[
0.09772148045496064,
0.7968053639151181,
-0.5962815813806319,
2.012050955625201
],
[
0.0,
0.0,
0.0,
1.0
]
],
"T_world_from_camera": [
[
0.9941431609633316,
0.04615070711837635,
0.09772148045496064,
-0.1066252025474199
],
[
-0.050371159170527244,
-0.6021328411238784,
0.7968053639151181,
-1.0174104788150782
],
[
0.09561444364557488,
-0.7970609474014897,
-0.5962815813806319,
1.9973000899971087
],
[
0.0,
0.0,
0.0,
1.0
]
],
"calibration_status": "approximate_reference_fit_not_metric_calibration",
"clipping_range_m": [
0.05,
5.0
],
"fixed_across_episodes": true,
"lens_model": "pinhole_zero_distortion",
"optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW",
"resolution_px": [
1920,
1200
],
"rig_id": "zed_reference_20260908_v1",
"view": "front",
"world_frame": "Environment-local metres, +Z up; environment spacing translation excluded"
},
"camera_calibration_status": "approximate_reference_fit_not_metric_calibration",
"camera_coverage": {
"all_views_before_physics_release": true,
"at_least_one_view_every_frame": true,
"occlusion_tested": false,
"per_view_in_frame_fraction": {
"front": 1.0,
"left": 1.0,
"right": 1.0
},
"policy": "Full tube envelope in all views during controlled motion; after free release at least one view. Per-frame masks disclose any view exits."
},
"camera_eye": [
-0.1066252025474199,
-1.0174104788150782,
1.9973000899971087
],
"camera_focal_length_mm": 10.9140625,
"camera_orientation_xyzw": [
0.8933864762055448,
-0.001181026399144831,
0.05410198420556066,
-0.4460181438178333
],
"camera_rig_id": "zed_reference_20260908_v1",
"camera_sensor_verification": {
"actual_K": [
[
1000.0,
0.0,
960.0
],
[
0.0,
1000.0,
600.0
],
[
0.0,
0.0,
1.0
]
],
"actual_eye_m": [
-0.10662519931793213,
-1.0174105167388916,
1.997300148010254
],
"actual_quaternion_xyzw": [
-0.8933864831924438,
0.0011809766292572021,
-0.05410196632146835,
0.44601812958717346
],
"valid": true
},
"camera_target": [
-0.008903722092459265,
-0.22060511489996004,
1.4010185086164768
],
"camera_view": "front",
"distractors": [
{
"asset_id": "PIP-005",
"pitch_deg": 0.0,
"position": [
-0.25877091004349695,
0.10834611745486183,
0.7998835131918085
],
"roll_deg": -90.15702335819935,
"surface": "main_table",
"uniform_scale": 1.1373955384010253,
"yaw_deg": 165.17009302157942
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
-0.5639861873327215,
-0.07482487959848413,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0445506645027107,
"yaw_deg": -60.72478956203325
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
0.14579381346000353,
0.03531718802065675,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8710476065265559,
"yaw_deg": 67.15739584144401
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
0.42922486481704514,
-0.2415138677014081,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9899147946688358,
"yaw_deg": 100.55387456339048
}
],
"duration_s": 15.289969237208037,
"episode_id": 2,
"error_type": "cap_open",
"frame_count": 459,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.968019443762663
],
"light_intensity": 2334.830345030246,
"liquid": {
"color_rgb": [
0.357561437081461,
0.09081704656976008,
0.17091207436821224
],
"fill_fraction": 0.5595915943303797,
"opacity": 0.8847315271991968,
"vortex_level_rise_fraction": 0.210719655699058
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.7414732177879118,
"direction_azimuth_deg": -96.99891494455883,
"lateral_speed_mps": 0.05096048397791676,
"phase": "lower_to_rack",
"phase_fraction": 0.6847162502601041,
"release_clearance_m": 0.008009947407020657,
"release_tilt_deg": 110.43296232956439,
"stage": "insertion",
"tip_duration_s": 0.4222887771530066,
"trigger_time_s": 14.047534436553198,
"tube_detach_fraction": 0.5672246833449759,
"tube_engagement_fraction": 0.36011628028300624,
"tube_on_rack": true,
"upward_speed_mps": 0.06569112476678934
},
"rack_id": "TR-002",
"rack_position": [
0.4585966625584128,
0.08880759119915715,
0.79
],
"rack_yaw_deg": 30.229162072090475,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": false,
"tube_id": "CT-009",
"vortex_id": "VTX-002"
},
"distractors": {
"count": 4,
"placements": [
{
"asset_id": "PIP-005",
"pitch_deg": 0.0,
"position": [
-0.25877091004349695,
0.10834611745486183,
0.7998835131918085
],
"roll_deg": -90.15702335819935,
"surface": "main_table",
"uniform_scale": 1.1373955384010253,
"yaw_deg": 165.17009302157942
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
-0.5639861873327215,
-0.07482487959848413,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0445506645027107,
"yaw_deg": -60.72478956203325
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
0.14579381346000353,
0.03531718802065675,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8710476065265559,
"yaw_deg": 67.15739584144401
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
0.42922486481704514,
-0.2415138677014081,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9899147946688358,
"yaw_deg": 100.55387456339048
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.17826949665648062,
0.4824737819255457,
0.6452360708579217
],
"cabinet_color_rgb": [
0.693244358808421,
0.7786050627700267,
0.7931252104725954
],
"floor_color_rgb": [
0.3354891362273759,
0.36311430312901427,
0.41416940677393554
],
"screen_color_rgb": [
0.5327789812413193,
0.7722798841206945,
0.876750565698418
],
"style": "clean_room",
"wall_color_rgb": [
0.8096567730628654,
0.8483792249350137,
0.8486370943030848
]
},
"camera_calibration": {
"K_px": [
[
1000.0000000000001,
0.0,
960.0
],
[
0.0,
1000.0000000000001,
600.0
],
[
0.0,
0.0,
1.0
]
],
"T_camera_from_world": [
[
0.9941431609633316,
-0.050371159170527244,
0.09561444364557488,
-0.13621816616963933
],
[
0.04615070711837635,
-0.6021328411238784,
-0.7970609474014897,
0.9842744682742511
],
[
0.09772148045496064,
0.7968053639151181,
-0.5962815813806319,
2.012050955625201
],
[
0.0,
0.0,
0.0,
1.0
]
],
"T_world_from_camera": [
[
0.9941431609633316,
0.04615070711837635,
0.09772148045496064,
-0.1066252025474199
],
[
-0.050371159170527244,
-0.6021328411238784,
0.7968053639151181,
-1.0174104788150782
],
[
0.09561444364557488,
-0.7970609474014897,
-0.5962815813806319,
1.9973000899971087
],
[
0.0,
0.0,
0.0,
1.0
]
],
"calibration_status": "approximate_reference_fit_not_metric_calibration",
"clipping_range_m": [
0.05,
5.0
],
"fixed_across_episodes": true,
"lens_model": "pinhole_zero_distortion",
"optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW",
"resolution_px": [
1920,
1200
],
"rig_id": "zed_reference_20260908_v1",
"view": "front",
"world_frame": "Environment-local metres, +Z up; environment spacing translation excluded"
},
"camera_eye_m": [
-0.1066252025474199,
-1.0174104788150782,
1.9973000899971087
],
"camera_focal_length_mm": 10.9140625,
"camera_target_m": [
-0.008903722092459265,
-0.22060511489996004,
1.4010185086164768
],
"light_color_rgb": [
0.92,
0.92,
0.968019443762663
],
"light_intensity": 2334.830345030246,
"table_color_rgb": [
0.36,
0.42,
0.48
]
},
"layout": {
"rack_position_m": [
0.4585966625584128,
0.08880759119915715,
0.79
],
"rack_to_vortex_bearing_deg": -148.9318433318012,
"rack_to_vortex_distance_m": 0.6858072465762253,
"rack_yaw_deg": 30.229162072090475,
"return_slot_offset_xy_m": [
0.034,
-0.068
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.068,
-0.034
],
"tube_return_position_m": [
0.5222085618982034,
0.04717195427134798,
0.8152000000000001
],
"tube_start_position_m": [
0.4169610256306036,
0.025195691859366542,
0.8152000000000001
],
"vortex_contact_position_m": [
-0.14287034009205377,
-0.2403476429610905,
0.9790000000000001
],
"vortex_position_m": [
-0.12883429595412965,
-0.2651082864292689,
0.79
],
"vortex_yaw_deg": 10.476019313039458
},
"liquid": {
"color_rgb": [
0.357561437081461,
0.09081704656976008,
0.17091207436821224
],
"effective_peak_level_fraction": 0.7703112500294378,
"effective_vortex_level_rise_fraction": 0.210719655699058,
"fill_fraction": 0.5595915943303797,
"opacity": 0.8847315271991968,
"present": true,
"vortex_level_rise_fraction": 0.210719655699058
},
"rendering": {
"motion_blur_enabled": true,
"motion_blur_exposure_fraction": 0.75,
"motion_blur_samples": 8,
"physics_hz": 120,
"render_fps": 30,
"resolution": [
1920,
1200
]
},
"seed": 23280909,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.004818974914035757,
"depart_pattern": "hook",
"depart_sway_m": 0.00775673009430426,
"handling_noise_amplitude_m": 0.003467262857280473,
"handling_noise_frequency_hz": 1.7528973735271252,
"handling_noise_phase_xyz_rad": [
1.5116361541097438,
3.685222011565211,
2.7227948008791096
],
"lift_height_m": 0.177573143253154,
"orientation_noise_deg": 2.7425526713103325,
"outbound_curve_bias": 0.2410596922821,
"outbound_pattern": "wide_detour",
"phase_boundaries_s": {
"final_hold": [
14.353251080819199,
15.289969237208037
],
"initial_hold": [
0.0,
0.7740588200631984
],
"lift_from_rack": [
0.7740588200631984,
1.9348810082076882
],
"lower_to_rack": [
13.383595510184136,
14.353251080819199
],
"lower_to_vortex": [
5.183293413908089,
6.482268041040427
],
"raise_from_vortex": [
10.324265743862895,
11.144661666845879
],
"transfer_to_rack": [
11.144661666845879,
13.383595510184136
],
"transfer_to_vortex": [
1.9348810082076882,
5.183293413908089
],
"vortex": [
6.482268041040427,
10.324265743862895
]
},
"pick_line_azimuth_deg": -0.5735994739380601,
"pick_line_tilt_deg": 10.082271082252975,
"pick_pattern": "lean",
"pick_sway_m": -0.007658369382122182,
"put_pattern": "lean",
"put_sway_m": -0.0077383519588188135,
"rack_put_height_m": 0.12110082662311122,
"return_bend_scale": 0.737394682871511,
"return_curve_bias": 0.5988947573562733,
"return_pattern": "hook",
"return_side": -1.0,
"return_vertical_arc_scale": 1.0634145689786956,
"transfer_bend_m": 0.3001795815366235,
"transfer_side": 1.0,
"transport_tilt_deg": 14.980511269985783,
"vertical_arc_m": 0.27623635254677537,
"vortex_apparent_frequency_hz": 6.580944854161661,
"vortex_approach_height_m": 0.2672860945318322,
"vortex_depart_height_m": 0.0959268375354602,
"vortex_frequency_hz": 23.41905514583834,
"vortex_phase_rad": 1.3042275487797426,
"vortex_radius_m": 0.0002650969669129668,
"vortex_tilt_deg": 0.4673791893087609
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.034,
-0.068
],
"scene_id": "cap_open/scene_000002",
"schema_version": 15,
"seed": 23280909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "f089bfc79808e42ac28f82e00154bfc0e4346f78b2d89c39c012639e87baaf34",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.068,
-0.034
],
"subtype_event": {
"category": "cap_open",
"event_phase": "whole_episode",
"is_failure": true,
"randomized_parameters": {
"cap_removed_before_first_frame": true
},
"realized_outcome": {
"cap_absent_for_entire_episode": true,
"source_tube_has_cap": true,
"tube_cap_present": false
},
"time_window_s": [
0.0,
15.289969237208037
]
},
"table_color_rgb": [
0.36,
0.42,
0.48
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.004818974914035757,
"depart_pattern": "hook",
"depart_sway_m": 0.00775673009430426,
"handling_noise_amplitude_m": 0.003467262857280473,
"handling_noise_frequency_hz": 1.7528973735271252,
"handling_noise_phase_xyz_rad": [
1.5116361541097438,
3.685222011565211,
2.7227948008791096
],
"lift_height_m": 0.177573143253154,
"orientation_noise_deg": 2.7425526713103325,
"outbound_curve_bias": 0.2410596922821,
"outbound_pattern": "wide_detour",
"phase_boundaries_s": {
"final_hold": [
14.353251080819199,
15.289969237208037
],
"initial_hold": [
0.0,
0.7740588200631984
],
"lift_from_rack": [
0.7740588200631984,
1.9348810082076882
],
"lower_to_rack": [
13.383595510184136,
14.353251080819199
],
"lower_to_vortex": [
5.183293413908089,
6.482268041040427
],
"raise_from_vortex": [
10.324265743862895,
11.144661666845879
],
"transfer_to_rack": [
11.144661666845879,
13.383595510184136
],
"transfer_to_vortex": [
1.9348810082076882,
5.183293413908089
],
"vortex": [
6.482268041040427,
10.324265743862895
]
},
"pick_line_azimuth_deg": -0.5735994739380601,
"pick_line_tilt_deg": 10.082271082252975,
"pick_pattern": "lean",
"pick_sway_m": -0.007658369382122182,
"put_pattern": "lean",
"put_sway_m": -0.0077383519588188135,
"rack_put_height_m": 0.12110082662311122,
"return_bend_scale": 0.737394682871511,
"return_curve_bias": 0.5988947573562733,
"return_pattern": "hook",
"return_side": -1.0,
"return_vertical_arc_scale": 1.0634145689786956,
"transfer_bend_m": 0.3001795815366235,
"transfer_side": 1.0,
"transport_tilt_deg": 14.980511269985783,
"vertical_arc_m": 0.27623635254677537,
"vortex_apparent_frequency_hz": 6.580944854161661,
"vortex_approach_height_m": 0.2672860945318322,
"vortex_depart_height_m": 0.0959268375354602,
"vortex_frequency_hz": 23.41905514583834,
"vortex_phase_rad": 1.3042275487797426,
"vortex_radius_m": 0.0002650969669129668,
"vortex_tilt_deg": 0.4673791893087609
},
"trajectory_validation": {
"duration_s": 15.289969237208037,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 1.1594391321592913e-15,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.0034655723913516677,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 0.0,
"wrong_orientation_min_tilt_deg": 0.0,
"wrong_orientation_valid": true
},
"tube_cap_present": false,
"tube_drop": {
"phase": "vortex",
"phase_fraction": 0.5056344605594545,
"release_time_s": 8.42491447697773,
"target_surface": "vortex",
"vortex_release_azimuth_deg": 130.6374223710294,
"vortex_release_offset_m": 0.028497615099452072,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-009",
"tube_return_position": [
0.5222085618982034,
0.04717195427134798,
0.8152000000000001
],
"tube_start_position": [
0.4169610256306036,
0.025195691859366542,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "14a6f6b7b31158d565907ea4f9b83144d9246a1d6f0fda2cb5963918a881acd5",
"video_validation": {
"actual_frame_count": 459,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 459,
"frame_count_valid": true,
"full_decode_frame_count": 459,
"max_changed_pixel_fraction": 0.01024609375,
"mean_luminance": 155.29611206054688,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
76,
153,
229,
305,
382,
458
],
"spatial_standard_deviation": 31.778945922851562,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.14287034009205377,
-0.2403476429610905,
0.9790000000000001
],
"vortex_id": "VTX-002",
"vortex_position": [
-0.12883429595412965,
-0.2651082864292689,
0.79
],
"vortex_yaw_deg": 10.476019313039458,
"wrong_orientation": {
"azimuth_deg": 87.55191817749335,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.2706828638476657,
-0.3493268128069671,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -38.4968789920876,
"release_lateral_offset_m": 0.01716078805178742,
"release_phase_fraction": 0.6510694651765757,
"release_tilt_deg": 22.145082207607157,
"release_time_s": 14.014908643962993,
"slot_offset_xy": [
0.0,
-0.019
],
"tube_target_position": [
0.25871908291259793,
-0.364087163268176,
0.8500000000000001
],
"yaw_deg": -39.02597764545902
}
}