xspcz's picture
Add files using upload-large-folder tool
461c692 verified
Raw History Blame Contribute Delete
25.3 kB
{
"background": {
"accent_color_rgb": [
0.6693014250675478,
0.38130566837263113,
0.7517808790219211
],
"cabinet_color_rgb": [
0.23080363126792247,
0.27261675850158595,
0.38413041034907064
],
"floor_color_rgb": [
0.1808944410302632,
0.2502853107647729,
0.2650218935666507
],
"screen_color_rgb": [
0.24610434674691706,
0.7094896815968809,
0.8922994922379335
],
"style": "instrument_bay",
"wall_color_rgb": [
0.3235608802435021,
0.4419746572797659,
0.44028181179123727
]
},
"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": "RES-010",
"pitch_deg": 0.0,
"position": [
0.740711559923248,
0.3155158038669792,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8190054027440473,
"yaw_deg": 147.62818747117348
},
{
"asset_id": "PIP-007",
"pitch_deg": 0.0,
"position": [
-0.6949085098492123,
0.27550272503444306,
0.7981425439934366
],
"roll_deg": 88.17451450155737,
"surface": "main_table",
"uniform_scale": 0.8398399992787527,
"yaw_deg": -145.9544895439763
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.12262937933584117,
0.34427481059736154,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1472691935822146,
"yaw_deg": -41.38761733406341
},
{
"asset_id": "PIP-018",
"pitch_deg": 91.06502308626553,
"position": [
-0.41335133755172826,
0.04829784344171517,
0.8374033094552947
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1799574705734501,
"yaw_deg": 92.61748075864472
},
{
"asset_id": "PIP-001",
"pitch_deg": 90.57346340304647,
"position": [
-0.1473837267889676,
1.0970901718087958,
0.8443629046198018
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8083326308922347,
"yaw_deg": -25.746618425623353
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
0.5142221600876832,
0.11441493512893486,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8199811744105606,
"yaw_deg": 43.78907575794693
},
{
"asset_id": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.06259664586689184,
0.16244824650600947,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1203809548518997,
"yaw_deg": -32.94507665705078
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.670858379093575,
1.1525946842670987,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.001318677133505,
"yaw_deg": -154.59499718318833
},
{
"asset_id": "PIP-005",
"pitch_deg": 87.29308029621433,
"position": [
-0.30024250643038136,
0.30850403436595175,
0.8157013102683894
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0957091421038878,
"yaw_deg": 18.400425592983822
}
],
"duration_s": 16.344447409434423,
"episode_id": 7,
"error_type": "vortex_off",
"frame_count": 490,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.9285112701168416
],
"light_intensity": 2197.4555754793805,
"liquid": {
"color_rgb": [
0.05398458671384121,
0.26790275316050965,
0.3310978126255109
],
"fill_fraction": 0.4453376265809972,
"opacity": 0.8252405885357438,
"vortex_level_rise_fraction": 0.21718775870573206
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.055813399621709,
"direction_azimuth_deg": 104.93502153730822,
"lateral_speed_mps": 0.03443416073557793,
"phase": "lift_from_rack",
"phase_fraction": 0.3085091326312739,
"release_clearance_m": 0.011367241120900677,
"release_tilt_deg": 108.8276780234509,
"stage": "pickup",
"tip_duration_s": 0.43640698444786785,
"trigger_time_s": 1.638985725365135,
"tube_detach_fraction": 0.5601037551913094,
"tube_engagement_fraction": 0.4347671147048282,
"tube_on_rack": true,
"upward_speed_mps": 0.05239433504307008
},
"rack_id": "TR-004",
"rack_position": [
0.28676055992865535,
0.3242337672977729,
0.79
],
"rack_yaw_deg": -25.41663660925652,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-001"
},
"distractors": {
"count": 9,
"placements": [
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
0.740711559923248,
0.3155158038669792,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8190054027440473,
"yaw_deg": 147.62818747117348
},
{
"asset_id": "PIP-007",
"pitch_deg": 0.0,
"position": [
-0.6949085098492123,
0.27550272503444306,
0.7981425439934366
],
"roll_deg": 88.17451450155737,
"surface": "main_table",
"uniform_scale": 0.8398399992787527,
"yaw_deg": -145.9544895439763
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.12262937933584117,
0.34427481059736154,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1472691935822146,
"yaw_deg": -41.38761733406341
},
{
"asset_id": "PIP-018",
"pitch_deg": 91.06502308626553,
"position": [
-0.41335133755172826,
0.04829784344171517,
0.8374033094552947
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1799574705734501,
"yaw_deg": 92.61748075864472
},
{
"asset_id": "PIP-001",
"pitch_deg": 90.57346340304647,
"position": [
-0.1473837267889676,
1.0970901718087958,
0.8443629046198018
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8083326308922347,
"yaw_deg": -25.746618425623353
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
0.5142221600876832,
0.11441493512893486,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8199811744105606,
"yaw_deg": 43.78907575794693
},
{
"asset_id": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.06259664586689184,
0.16244824650600947,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1203809548518997,
"yaw_deg": -32.94507665705078
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.670858379093575,
1.1525946842670987,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.001318677133505,
"yaw_deg": -154.59499718318833
},
{
"asset_id": "PIP-005",
"pitch_deg": 87.29308029621433,
"position": [
-0.30024250643038136,
0.30850403436595175,
0.8157013102683894
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0957091421038878,
"yaw_deg": 18.400425592983822
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.6693014250675478,
0.38130566837263113,
0.7517808790219211
],
"cabinet_color_rgb": [
0.23080363126792247,
0.27261675850158595,
0.38413041034907064
],
"floor_color_rgb": [
0.1808944410302632,
0.2502853107647729,
0.2650218935666507
],
"screen_color_rgb": [
0.24610434674691706,
0.7094896815968809,
0.8922994922379335
],
"style": "instrument_bay",
"wall_color_rgb": [
0.3235608802435021,
0.4419746572797659,
0.44028181179123727
]
},
"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,
0.9285112701168416
],
"light_intensity": 2197.4555754793805,
"table_color_rgb": [
0.5,
0.46,
0.38
]
},
"layout": {
"rack_position_m": [
0.28676055992865535,
0.3242337672977729,
0.79
],
"rack_to_vortex_bearing_deg": -82.15171636915146,
"rack_to_vortex_distance_m": 0.48977437842661087,
"rack_yaw_deg": -25.41663660925652,
"return_slot_offset_xy_m": [
0.025,
0.0
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
0.075,
0.0
],
"tube_return_position_m": [
0.30934082761944537,
0.31350383202246657,
0.8529
],
"tube_start_position_m": [
0.35450136300102547,
0.2920439614718539,
0.8529
],
"vortex_contact_position_m": [
0.36557717480129276,
-0.10583080644488008,
1.0070000000000001
],
"vortex_position_m": [
0.35363946465194374,
-0.16095295332242948,
0.79
],
"vortex_yaw_deg": -12.21973979050005
},
"liquid": {
"color_rgb": [
0.05398458671384121,
0.26790275316050965,
0.3310978126255109
],
"effective_peak_level_fraction": 0.4453376265809972,
"effective_vortex_level_rise_fraction": 0.0,
"fill_fraction": 0.4453376265809972,
"opacity": 0.8252405885357438,
"present": true,
"vortex_level_rise_fraction": 0.21718775870573206
},
"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": 21330909,
"trajectory": {
"approach_pattern": "hook",
"approach_sway_m": -0.01059966911023439,
"depart_pattern": "lean",
"depart_sway_m": -0.002326571599429425,
"handling_noise_amplitude_m": 0.007930284078315267,
"handling_noise_frequency_hz": 2.6565817565622596,
"handling_noise_phase_xyz_rad": [
5.574441433960531,
3.8835761352129947,
1.4118455782412165
],
"lift_height_m": 0.17489602189126516,
"orientation_noise_deg": 2.5094562043722144,
"outbound_curve_bias": 0.000828175982271917,
"outbound_pattern": "s_curve",
"phase_boundaries_s": {
"final_hold": [
15.498581196842565,
16.344447409434423
],
"initial_hold": [
0.0,
1.2759516433153348
],
"lift_from_rack": [
1.2759516433153348,
2.452688548811399
],
"lower_to_rack": [
14.4408084133964,
15.498581196842565
],
"lower_to_vortex": [
5.347848328076776,
6.159223824415486
],
"raise_from_vortex": [
10.437067308437847,
11.07234842887075
],
"transfer_to_rack": [
11.07234842887075,
14.4408084133964
],
"transfer_to_vortex": [
2.452688548811399,
5.347848328076776
],
"vortex": [
6.159223824415486,
10.437067308437847
]
},
"pick_line_azimuth_deg": 60.68279474686119,
"pick_line_tilt_deg": 6.546177585992518,
"pick_pattern": "hook",
"pick_sway_m": -0.009170178809646719,
"put_pattern": "straight",
"put_sway_m": 0.002870559440796102,
"rack_put_height_m": 0.37689735578641803,
"return_bend_scale": 0.5491700891056517,
"return_curve_bias": -0.13891532730357825,
"return_pattern": "hook",
"return_side": -1.0,
"return_vertical_arc_scale": 1.5631271551469414,
"transfer_bend_m": 0.1011313248057255,
"transfer_side": 1.0,
"transport_tilt_deg": 16.406802104513805,
"vertical_arc_m": 0.2221667574319707,
"vortex_apparent_frequency_hz": 9.413616245512394,
"vortex_approach_height_m": 0.34489178129166825,
"vortex_depart_height_m": 0.0943988310185175,
"vortex_frequency_hz": 39.413616245512394,
"vortex_phase_rad": 3.8284434749612317,
"vortex_radius_m": 0.0007403942802532906,
"vortex_tilt_deg": 0.19411180687404675
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.025,
0.0
],
"scene_id": "vortex_off/scene_000007",
"schema_version": 15,
"seed": 21330909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "7734c65a99a66a471ef9c0a177214e4649e3b4e6427f4c19d61a522c69323779",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
0.075,
0.0
],
"subtype_event": {
"category": "vortex_off",
"event_phase": "vortex",
"is_failure": true,
"randomized_parameters": {
"commanded_liquid_level_rise_fraction": 0.0,
"commanded_vortex_radius_m": 0.0,
"commanded_vortex_tilt_deg": 0.0
},
"realized_outcome": {
"liquid_level_rise_enabled": false,
"tube_stationary_on_vortex": true,
"vortex_motion_enabled": false
},
"time_window_s": [
6.159223824415486,
10.437067308437847
]
},
"table_color_rgb": [
0.5,
0.46,
0.38
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "hook",
"approach_sway_m": -0.01059966911023439,
"depart_pattern": "lean",
"depart_sway_m": -0.002326571599429425,
"handling_noise_amplitude_m": 0.007930284078315267,
"handling_noise_frequency_hz": 2.6565817565622596,
"handling_noise_phase_xyz_rad": [
5.574441433960531,
3.8835761352129947,
1.4118455782412165
],
"lift_height_m": 0.17489602189126516,
"orientation_noise_deg": 2.5094562043722144,
"outbound_curve_bias": 0.000828175982271917,
"outbound_pattern": "s_curve",
"phase_boundaries_s": {
"final_hold": [
15.498581196842565,
16.344447409434423
],
"initial_hold": [
0.0,
1.2759516433153348
],
"lift_from_rack": [
1.2759516433153348,
2.452688548811399
],
"lower_to_rack": [
14.4408084133964,
15.498581196842565
],
"lower_to_vortex": [
5.347848328076776,
6.159223824415486
],
"raise_from_vortex": [
10.437067308437847,
11.07234842887075
],
"transfer_to_rack": [
11.07234842887075,
14.4408084133964
],
"transfer_to_vortex": [
2.452688548811399,
5.347848328076776
],
"vortex": [
6.159223824415486,
10.437067308437847
]
},
"pick_line_azimuth_deg": 60.68279474686119,
"pick_line_tilt_deg": 6.546177585992518,
"pick_pattern": "hook",
"pick_sway_m": -0.009170178809646719,
"put_pattern": "straight",
"put_sway_m": 0.002870559440796102,
"rack_put_height_m": 0.37689735578641803,
"return_bend_scale": 0.5491700891056517,
"return_curve_bias": -0.13891532730357825,
"return_pattern": "hook",
"return_side": -1.0,
"return_vertical_arc_scale": 1.5631271551469414,
"transfer_bend_m": 0.1011313248057255,
"transfer_side": 1.0,
"transport_tilt_deg": 16.406802104513805,
"vertical_arc_m": 0.2221667574319707,
"vortex_apparent_frequency_hz": 9.413616245512394,
"vortex_approach_height_m": 0.34489178129166825,
"vortex_depart_height_m": 0.0943988310185175,
"vortex_frequency_hz": 39.413616245512394,
"vortex_phase_rad": 3.8284434749612317,
"vortex_radius_m": 0.0007403942802532906,
"vortex_tilt_deg": 0.19411180687404675
},
"trajectory_validation": {
"duration_s": 16.344447409434423,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 5.551115123125783e-16,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.0033480445687399866,
"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": true,
"tube_drop": {
"phase": "transfer_to_rack",
"phase_fraction": 0.7105455695605851,
"release_time_s": 13.465792747117568,
"target_surface": "table",
"vortex_release_azimuth_deg": 0.0,
"vortex_release_offset_m": 0.0,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-009",
"tube_return_position": [
0.30934082761944537,
0.31350383202246657,
0.8529
],
"tube_start_position": [
0.35450136300102547,
0.2920439614718539,
0.8529
],
"video": "front.mp4",
"video_sha256": "cf71df4fd9d814e1c9be9accf67b5a3dc8d5d4491ac8a93078b0ddcd21c94ca3",
"video_validation": {
"actual_frame_count": 490,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 490,
"frame_count_valid": true,
"full_decode_frame_count": 490,
"max_changed_pixel_fraction": 0.008201388888888888,
"mean_luminance": 115.8650131225586,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
82,
163,
244,
326,
408,
489
],
"spatial_standard_deviation": 36.5506591796875,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.36557717480129276,
-0.10583080644488008,
1.0070000000000001
],
"vortex_id": "VTX-001",
"vortex_position": [
0.35363946465194374,
-0.16095295332242948,
0.79
],
"vortex_yaw_deg": -12.21973979050005,
"wrong_orientation": {
"azimuth_deg": -163.36323751927114,
"mode": "tilted",
"tilt_deg_from_z": 56.00559770895737
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.039676875455922245,
-0.35856870205860786,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -17.816311376806112,
"release_lateral_offset_m": 0.023305665789955167,
"release_phase_fraction": 0.6714651982805047,
"release_tilt_deg": 23.741214359352682,
"release_time_s": 15.1510660251688,
"slot_offset_xy": [
-0.02,
-0.019
],
"tube_target_position": [
-0.04688668588480884,
-0.38519610586708153,
0.8500000000000001
],
"yaw_deg": 31.318297309147738
}
}