xspcz's picture
Upload complete 300-cases-per-category three-camera training set
01a2b39 verified
Raw History Blame Contribute Delete
22.5 kB
{
"background": {
"accent_color_rgb": [
0.8607147074751107,
0.5199029940799408,
0.15578931216224476
],
"cabinet_color_rgb": [
0.4960652423493174,
0.6169043296260928,
0.5694980053412294
],
"floor_color_rgb": [
0.27573782902347144,
0.27971688959910745,
0.3123253768557325
],
"screen_color_rgb": [
0.35234574468832197,
0.6950642960580845,
0.6465656479622501
],
"style": "wet_lab",
"wall_color_rgb": [
0.7286955288312464,
0.8282768960869785,
0.7618299241006738
]
},
"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": [
[
0.0069431176558121255,
-0.9998646519461332,
0.014915458620346878,
0.3823153391987899
],
[
-0.43151957629920296,
-0.016451368713684023,
-0.901953550765228,
0.9426920936472298
],
[
0.9020768528167509,
-0.00017394276111992735,
-0.4315753947529237,
2.4179538337905133
],
[
0.0,
0.0,
0.0,
1.0
]
],
"T_world_from_camera": [
[
0.0069431176558121255,
-0.43151957629920296,
0.9020768528167509,
-1.777044552192361
],
[
-0.9998646519461332,
-0.016451368713684023,
-0.00017394276111992735,
0.3981927543438413
],
[
0.014915458620346878,
-0.901953550765228,
-0.4315753947529237,
1.8880914528341686
],
[
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": "left",
"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": [
-1.777044552192361,
0.3981927543438413,
1.8880914528341686
],
"camera_focal_length_mm": 10.9140625,
"camera_orientation_xyzw": [
0.6031106617202228,
-0.5933339928706739,
0.38010947643571985,
-0.3738035427163593
],
"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": [
-1.7770445346832275,
0.39819276332855225,
1.8880914449691772
],
"actual_quaternion_xyzw": [
-0.6031106114387512,
0.5933340191841125,
-0.3801094889640808,
0.3738035559654236
],
"valid": true
},
"camera_target": [
-0.8749676993756101,
0.3980188115827214,
1.4565160580812448
],
"camera_view": "left",
"distractors": [
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.5937554145519311,
-0.16282736234928658,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0356772564493226,
"yaw_deg": -154.22382066300432
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.049290269144407595,
-0.20496203700763585,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9143071230650441,
"yaw_deg": 0.5301769030205605
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.3612498244291682,
1.1584428677679526,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1619480381223832,
"yaw_deg": 52.507213840583006
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
0.007526325170293946,
1.0507146044137263,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1356188978502855,
"yaw_deg": -173.49538528771228
},
{
"asset_id": "PIP-018",
"pitch_deg": 86.5556656301734,
"position": [
-0.21087973458043874,
0.16701618447418148,
0.8333162577549313
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0771385598724854,
"yaw_deg": -15.002022944063725
}
],
"duration_s": 14.824673294754659,
"episode_id": 21,
"error_type": "cap_open",
"frame_count": 445,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.9828665841908533
],
"light_intensity": 2191.5513093123386,
"liquid": {
"color_rgb": [
0.371794743645103,
0.1932002264022396,
0.04881931665226067
],
"fill_fraction": 0.4148270529604193,
"opacity": 0.9336878096730395,
"vortex_level_rise_fraction": 0.19542471376574003
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.7744835925167495,
"direction_azimuth_deg": 41.26724961439905,
"lateral_speed_mps": 0.03144674104344255,
"phase": "lift_from_rack",
"phase_fraction": 0.4083070943052345,
"release_clearance_m": 0.004217620825766182,
"release_tilt_deg": 125.36834318061065,
"stage": "pickup",
"tip_duration_s": 0.4694788705043928,
"trigger_time_s": 1.6622379416743285,
"tube_detach_fraction": 0.5967553512516135,
"tube_engagement_fraction": 0.5029608876458789,
"tube_on_rack": true,
"upward_speed_mps": 0.04773838910235434
},
"rack_id": "TR-004",
"rack_position": [
0.09803099237678314,
0.2606660598840405,
0.79
],
"rack_yaw_deg": -18.33420411765855,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": false,
"tube_id": "CT-005",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 5,
"placements": [
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.5937554145519311,
-0.16282736234928658,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0356772564493226,
"yaw_deg": -154.22382066300432
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.049290269144407595,
-0.20496203700763585,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9143071230650441,
"yaw_deg": 0.5301769030205605
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.3612498244291682,
1.1584428677679526,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1619480381223832,
"yaw_deg": 52.507213840583006
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
0.007526325170293946,
1.0507146044137263,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1356188978502855,
"yaw_deg": -173.49538528771228
},
{
"asset_id": "PIP-018",
"pitch_deg": 86.5556656301734,
"position": [
-0.21087973458043874,
0.16701618447418148,
0.8333162577549313
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0771385598724854,
"yaw_deg": -15.002022944063725
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8607147074751107,
0.5199029940799408,
0.15578931216224476
],
"cabinet_color_rgb": [
0.4960652423493174,
0.6169043296260928,
0.5694980053412294
],
"floor_color_rgb": [
0.27573782902347144,
0.27971688959910745,
0.3123253768557325
],
"screen_color_rgb": [
0.35234574468832197,
0.6950642960580845,
0.6465656479622501
],
"style": "wet_lab",
"wall_color_rgb": [
0.7286955288312464,
0.8282768960869785,
0.7618299241006738
]
},
"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": [
[
0.0069431176558121255,
-0.9998646519461332,
0.014915458620346878,
0.3823153391987899
],
[
-0.43151957629920296,
-0.016451368713684023,
-0.901953550765228,
0.9426920936472298
],
[
0.9020768528167509,
-0.00017394276111992735,
-0.4315753947529237,
2.4179538337905133
],
[
0.0,
0.0,
0.0,
1.0
]
],
"T_world_from_camera": [
[
0.0069431176558121255,
-0.43151957629920296,
0.9020768528167509,
-1.777044552192361
],
[
-0.9998646519461332,
-0.016451368713684023,
-0.00017394276111992735,
0.3981927543438413
],
[
0.014915458620346878,
-0.901953550765228,
-0.4315753947529237,
1.8880914528341686
],
[
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": "left",
"world_frame": "Environment-local metres, +Z up; environment spacing translation excluded"
},
"camera_eye_m": [
-1.777044552192361,
0.3981927543438413,
1.8880914528341686
],
"camera_focal_length_mm": 10.9140625,
"camera_target_m": [
-0.8749676993756101,
0.3980188115827214,
1.4565160580812448
],
"light_color_rgb": [
0.92,
0.92,
0.9828665841908533
],
"light_intensity": 2191.5513093123386,
"table_color_rgb": [
0.18,
0.48,
0.28
]
},
"layout": {
"rack_position_m": [
0.09803099237678314,
0.2606660598840405,
0.79
],
"rack_to_vortex_bearing_deg": -178.69207634941208,
"rack_to_vortex_distance_m": 0.6615288876052443,
"rack_yaw_deg": -18.33420411765855,
"return_slot_offset_xy_m": [
0.025,
0.0
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.025,
0.0
],
"tube_return_position_m": [
0.12176193895166709,
0.2528020803151451,
0.8394
],
"tube_start_position_m": [
0.0743000458018992,
0.2685300394529359,
0.8394
],
"vortex_contact_position_m": [
-0.545513824705443,
0.280016855549303,
0.9580000000000001
],
"vortex_position_m": [
-0.5633255419773515,
0.24556627169611417,
0.79
],
"vortex_yaw_deg": -18.290537711349778
},
"liquid": {
"color_rgb": [
0.371794743645103,
0.1932002264022396,
0.04881931665226067
],
"effective_peak_level_fraction": 0.6102517667261593,
"effective_vortex_level_rise_fraction": 0.19542471376574003,
"fill_fraction": 0.4148270529604193,
"opacity": 0.9336878096730395,
"present": true,
"vortex_level_rise_fraction": 0.19542471376574003
},
"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": 23470909,
"trajectory": {
"approach_pattern": "lean",
"approach_sway_m": 0.004769590367751165,
"depart_pattern": "lean",
"depart_sway_m": -0.0026811239921452194,
"handling_noise_amplitude_m": 0.012699353674003034,
"handling_noise_frequency_hz": 2.771727199238682,
"handling_noise_phase_xyz_rad": [
2.3955250415424585,
0.394421051561921,
3.1467232460348846
],
"lift_height_m": 0.10108767686432768,
"orientation_noise_deg": 2.762110043681612,
"outbound_curve_bias": 0.3200856549027189,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
13.934694825826274,
14.824673294754659
],
"initial_hold": [
0.0,
1.1254950716573782
],
"lift_from_rack": [
1.1254950716573782,
2.440051878293959
],
"lower_to_rack": [
13.150699700082626,
13.934694825826274
],
"lower_to_vortex": [
4.987961133019982,
5.680804561068989
],
"raise_from_vortex": [
9.876773739454144,
11.068385170968396
],
"transfer_to_rack": [
11.068385170968396,
13.150699700082626
],
"transfer_to_vortex": [
2.440051878293959,
4.987961133019982
],
"vortex": [
5.680804561068989,
9.876773739454144
]
},
"pick_line_azimuth_deg": -132.82442981858722,
"pick_line_tilt_deg": 4.30634348109829,
"pick_pattern": "s_sway",
"pick_sway_m": -0.002159539607515723,
"put_pattern": "spiral",
"put_sway_m": 0.0036673287635968464,
"rack_put_height_m": 0.1855512212636417,
"return_bend_scale": 0.46616849513698666,
"return_curve_bias": -0.25375791839066875,
"return_pattern": "zigzag",
"return_side": 1.0,
"return_vertical_arc_scale": 1.0194081072144934,
"transfer_bend_m": 0.10498443298531107,
"transfer_side": 1.0,
"transport_tilt_deg": 12.808516986056535,
"vertical_arc_m": 0.25891107435440336,
"vortex_apparent_frequency_hz": 5.360873919763776,
"vortex_approach_height_m": 0.3091654430861911,
"vortex_depart_height_m": 0.3502649693486546,
"vortex_frequency_hz": 35.360873919763776,
"vortex_phase_rad": 0.8719249805000289,
"vortex_radius_m": 0.0003876059810669974,
"vortex_tilt_deg": 0.7216135682501237
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.025,
0.0
],
"scene_id": "cap_open/scene_000021",
"schema_version": 15,
"seed": 23470909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "a8dfba7c510f366bcff13c2cfdffa5fdc5249245a3d55d30e69bece99aa63fed",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.025,
0.0
],
"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,
14.824673294754659
]
},
"table_color_rgb": [
0.18,
0.48,
0.28
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "lean",
"approach_sway_m": 0.004769590367751165,
"depart_pattern": "lean",
"depart_sway_m": -0.0026811239921452194,
"handling_noise_amplitude_m": 0.012699353674003034,
"handling_noise_frequency_hz": 2.771727199238682,
"handling_noise_phase_xyz_rad": [
2.3955250415424585,
0.394421051561921,
3.1467232460348846
],
"lift_height_m": 0.10108767686432768,
"orientation_noise_deg": 2.762110043681612,
"outbound_curve_bias": 0.3200856549027189,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
13.934694825826274,
14.824673294754659
],
"initial_hold": [
0.0,
1.1254950716573782
],
"lift_from_rack": [
1.1254950716573782,
2.440051878293959
],
"lower_to_rack": [
13.150699700082626,
13.934694825826274
],
"lower_to_vortex": [
4.987961133019982,
5.680804561068989
],
"raise_from_vortex": [
9.876773739454144,
11.068385170968396
],
"transfer_to_rack": [
11.068385170968396,
13.150699700082626
],
"transfer_to_vortex": [
2.440051878293959,
4.987961133019982
],
"vortex": [
5.680804561068989,
9.876773739454144
]
},
"pick_line_azimuth_deg": -132.82442981858722,
"pick_line_tilt_deg": 4.30634348109829,
"pick_pattern": "s_sway",
"pick_sway_m": -0.002159539607515723,
"put_pattern": "spiral",
"put_sway_m": 0.0036673287635968464,
"rack_put_height_m": 0.1855512212636417,
"return_bend_scale": 0.46616849513698666,
"return_curve_bias": -0.25375791839066875,
"return_pattern": "zigzag",
"return_side": 1.0,
"return_vertical_arc_scale": 1.0194081072144934,
"transfer_bend_m": 0.10498443298531107,
"transfer_side": 1.0,
"transport_tilt_deg": 12.808516986056535,
"vertical_arc_m": 0.25891107435440336,
"vortex_apparent_frequency_hz": 5.360873919763776,
"vortex_approach_height_m": 0.3091654430861911,
"vortex_depart_height_m": 0.3502649693486546,
"vortex_frequency_hz": 35.360873919763776,
"vortex_phase_rad": 0.8719249805000289,
"vortex_radius_m": 0.0003876059810669974,
"vortex_tilt_deg": 0.7216135682501237
},
"trajectory_validation": {
"duration_s": 14.824673294754659,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 5.688200336284365e-16,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.003654649607619054,
"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": "transfer_to_vortex",
"phase_fraction": 0.7862298700086083,
"release_time_s": 4.44329424043093,
"target_surface": "table",
"vortex_release_azimuth_deg": 0.0,
"vortex_release_offset_m": 0.0,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-005",
"tube_return_position": [
0.12176193895166709,
0.2528020803151451,
0.8394
],
"tube_start_position": [
0.0743000458018992,
0.2685300394529359,
0.8394
],
"video": "left.mp4",
"video_sha256": "aeb616c225b8f157339e84fd6af5d7d381b881aa4253d82996b1f68102da2612",
"video_validation": {
"actual_frame_count": 445,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 445,
"frame_count_valid": true,
"full_decode_frame_count": 445,
"max_changed_pixel_fraction": 0.006607638888888889,
"mean_luminance": 138.47718811035156,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
74,
148,
222,
296,
370,
444
],
"spatial_standard_deviation": 35.36164474487305,
"valid": true
},
"view_index": 0,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.545513824705443,
0.280016855549303,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
-0.5633255419773515,
0.24556627169611417,
0.79
],
"vortex_yaw_deg": -18.290537711349778,
"wrong_orientation": {
"azimuth_deg": 58.957610681082,
"mode": "tilted",
"tilt_deg_from_z": 46.95932073332642
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.38998604019230504,
-0.2152383459836649,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -88.81796110611282,
"release_lateral_offset_m": 0.017671371355761387,
"release_phase_fraction": 0.6565302257756216,
"release_tilt_deg": 26.78540818567466,
"release_time_s": 13.665416196994089,
"slot_offset_xy": [
0.02,
0.0
],
"tube_target_position": [
-0.382165140102002,
-0.19683091482726783,
0.8500000000000001
],
"yaw_deg": 66.98046172867564
}
}