xspcz's picture
Add files using upload-large-folder tool
3980349 verified
Raw History Blame Contribute Delete
22 kB
{
"background": {
"accent_color_rgb": [
0.8496248546356959,
0.7397818374075872,
0.15744048181698364
],
"cabinet_color_rgb": [
0.6033698554179869,
0.6600589344481967,
0.70376375510738
],
"floor_color_rgb": [
0.28713875577568276,
0.2953110363722142,
0.3197452149140934
],
"screen_color_rgb": [
0.2778199398242247,
0.7168998085984255,
0.8397240234397424
],
"style": "biosafety",
"wall_color_rgb": [
0.7383979717759652,
0.842085469186944,
0.8150616515153195
]
},
"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": "SBI-005",
"pitch_deg": 0.0,
"position": [
0.6583164216712862,
1.3082579580988045,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.165695715455956,
"yaw_deg": -87.91851032180121
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
-0.5279336312000537,
0.21391466766588157,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9824869581735182,
"yaw_deg": -59.483092114527366
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.053383534200296734,
-0.3387018977322273,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.846033172077325,
"yaw_deg": 70.47555499032185
},
{
"asset_id": "PIP-005",
"pitch_deg": -86.22117371450467,
"position": [
0.48478329523191266,
-0.22101153593656703,
0.8125325784101198
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9579381917443386,
"yaw_deg": -29.242666488754196
}
],
"duration_s": 14.827021553939666,
"episode_id": 34,
"error_type": "vortex_off",
"frame_count": 445,
"generation_success": true,
"light_color_rgb": [
0.9597453703196618,
0.92,
0.92
],
"light_intensity": 2212.495588263196,
"liquid": {
"color_rgb": [
0.3978049918261977,
0.22808530069761077,
0.02600985856323594
],
"fill_fraction": 0.5452067477722784,
"opacity": 0.8653749224050545,
"vortex_level_rise_fraction": 0.18594166769002965
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.965241975113566,
"direction_azimuth_deg": 67.23999661294215,
"lateral_speed_mps": 0.03135829738254957,
"phase": "lift_from_rack",
"phase_fraction": 0.3427784144450836,
"release_clearance_m": 0.005110377794802985,
"release_tilt_deg": 119.70913681466189,
"stage": "pickup",
"tip_duration_s": 0.3609523856864095,
"trigger_time_s": 1.310736017449268,
"tube_detach_fraction": 0.5994393491069964,
"tube_engagement_fraction": 0.591240361169483,
"tube_on_rack": true,
"upward_speed_mps": 0.07853971428710999
},
"rack_id": "TR-002",
"rack_position": [
0.16996205605163772,
-0.07912793163876905,
0.79
],
"rack_yaw_deg": -48.26676120599568,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 4,
"placements": [
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
0.6583164216712862,
1.3082579580988045,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.165695715455956,
"yaw_deg": -87.91851032180121
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
-0.5279336312000537,
0.21391466766588157,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9824869581735182,
"yaw_deg": -59.483092114527366
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.053383534200296734,
-0.3387018977322273,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.846033172077325,
"yaw_deg": 70.47555499032185
},
{
"asset_id": "PIP-005",
"pitch_deg": -86.22117371450467,
"position": [
0.48478329523191266,
-0.22101153593656703,
0.8125325784101198
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9579381917443386,
"yaw_deg": -29.242666488754196
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8496248546356959,
0.7397818374075872,
0.15744048181698364
],
"cabinet_color_rgb": [
0.6033698554179869,
0.6600589344481967,
0.70376375510738
],
"floor_color_rgb": [
0.28713875577568276,
0.2953110363722142,
0.3197452149140934
],
"screen_color_rgb": [
0.2778199398242247,
0.7168998085984255,
0.8397240234397424
],
"style": "biosafety",
"wall_color_rgb": [
0.7383979717759652,
0.842085469186944,
0.8150616515153195
]
},
"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": [
0.9597453703196618,
0.92,
0.92
],
"light_intensity": 2212.495588263196,
"table_color_rgb": [
0.26,
0.32,
0.42
]
},
"layout": {
"rack_position_m": [
0.16996205605163772,
-0.07912793163876905,
0.79
],
"rack_to_vortex_bearing_deg": -177.6407759920896,
"rack_to_vortex_distance_m": 0.6748962070491153,
"rack_yaw_deg": -48.26676120599568,
"return_slot_offset_xy_m": [
0.068,
-0.034
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.068,
0.0
],
"tube_return_position_m": [
0.18985459365634094,
-0.15250563225445657,
0.8152000000000001
],
"tube_start_position_m": [
0.12469694572160013,
-0.028382786188100327,
0.8152000000000001
],
"vortex_contact_position_m": [
-0.5170498577647059,
-0.07026114797833669,
0.9580000000000001
],
"vortex_position_m": [
-0.5043620947636462,
-0.10690975873002741,
0.79
],
"vortex_yaw_deg": 28.14530348109888
},
"liquid": {
"color_rgb": [
0.3978049918261977,
0.22808530069761077,
0.02600985856323594
],
"effective_peak_level_fraction": 0.5452067477722784,
"effective_vortex_level_rise_fraction": 0.0,
"fill_fraction": 0.5452067477722784,
"opacity": 0.8653749224050545,
"present": true,
"vortex_level_rise_fraction": 0.18594166769002965
},
"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": 21600909,
"trajectory": {
"approach_pattern": "lean",
"approach_sway_m": 0.003924621116102056,
"depart_pattern": "s_sway",
"depart_sway_m": -0.00488204532143559,
"handling_noise_amplitude_m": 0.004032049808491946,
"handling_noise_frequency_hz": 2.3102087599341394,
"handling_noise_phase_xyz_rad": [
4.061130459163248,
2.9067515528416745,
3.8765838303945768
],
"lift_height_m": 0.06348540628468277,
"orientation_noise_deg": 3.9985169696599514,
"outbound_curve_bias": 0.394457612004262,
"outbound_pattern": "crescent",
"phase_boundaries_s": {
"final_hold": [
14.094336022504105,
14.827021553939666
],
"initial_hold": [
0.0,
0.9653486423710492
],
"lift_from_rack": [
0.9653486423710492,
1.97295985860635
],
"lower_to_rack": [
12.770422488549627,
14.094336022504105
],
"lower_to_vortex": [
4.463368942545543,
5.906592842476909
],
"raise_from_vortex": [
9.190658406490515,
10.356172769101903
],
"transfer_to_rack": [
10.356172769101903,
12.770422488549627
],
"transfer_to_vortex": [
1.97295985860635,
4.463368942545543
],
"vortex": [
5.906592842476909,
9.190658406490515
]
},
"pick_line_azimuth_deg": -22.693021665941075,
"pick_line_tilt_deg": 9.16651328030413,
"pick_pattern": "hook",
"pick_sway_m": -0.00941391390213319,
"put_pattern": "straight",
"put_sway_m": 0.007962948654943696,
"rack_put_height_m": 0.27814835305997454,
"return_bend_scale": 1.7243952645007157,
"return_curve_bias": 0.26837642548580565,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 0.7054704874789479,
"transfer_bend_m": 0.25413031864393365,
"transfer_side": 1.0,
"transport_tilt_deg": 5.621207808425801,
"vertical_arc_m": 0.08930046847622096,
"vortex_apparent_frequency_hz": 9.789256945041522,
"vortex_approach_height_m": 0.21047734655967626,
"vortex_depart_height_m": 0.24568455224815283,
"vortex_frequency_hz": 39.78925694504152,
"vortex_phase_rad": 2.386610716142459,
"vortex_radius_m": 0.0005108757957331567,
"vortex_tilt_deg": 0.35558044578710635
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.068,
-0.034
],
"scene_id": "vortex_off/scene_000034",
"schema_version": 15,
"seed": 21600909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "079d4eb4904ccdff4c711c387869446d7b05ecce7cc228e0b38a8f57136b4d71",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.068,
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": [
5.906592842476909,
9.190658406490515
]
},
"table_color_rgb": [
0.26,
0.32,
0.42
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "lean",
"approach_sway_m": 0.003924621116102056,
"depart_pattern": "s_sway",
"depart_sway_m": -0.00488204532143559,
"handling_noise_amplitude_m": 0.004032049808491946,
"handling_noise_frequency_hz": 2.3102087599341394,
"handling_noise_phase_xyz_rad": [
4.061130459163248,
2.9067515528416745,
3.8765838303945768
],
"lift_height_m": 0.06348540628468277,
"orientation_noise_deg": 3.9985169696599514,
"outbound_curve_bias": 0.394457612004262,
"outbound_pattern": "crescent",
"phase_boundaries_s": {
"final_hold": [
14.094336022504105,
14.827021553939666
],
"initial_hold": [
0.0,
0.9653486423710492
],
"lift_from_rack": [
0.9653486423710492,
1.97295985860635
],
"lower_to_rack": [
12.770422488549627,
14.094336022504105
],
"lower_to_vortex": [
4.463368942545543,
5.906592842476909
],
"raise_from_vortex": [
9.190658406490515,
10.356172769101903
],
"transfer_to_rack": [
10.356172769101903,
12.770422488549627
],
"transfer_to_vortex": [
1.97295985860635,
4.463368942545543
],
"vortex": [
5.906592842476909,
9.190658406490515
]
},
"pick_line_azimuth_deg": -22.693021665941075,
"pick_line_tilt_deg": 9.16651328030413,
"pick_pattern": "hook",
"pick_sway_m": -0.00941391390213319,
"put_pattern": "straight",
"put_sway_m": 0.007962948654943696,
"rack_put_height_m": 0.27814835305997454,
"return_bend_scale": 1.7243952645007157,
"return_curve_bias": 0.26837642548580565,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 0.7054704874789479,
"transfer_bend_m": 0.25413031864393365,
"transfer_side": 1.0,
"transport_tilt_deg": 5.621207808425801,
"vertical_arc_m": 0.08930046847622096,
"vortex_apparent_frequency_hz": 9.789256945041522,
"vortex_approach_height_m": 0.21047734655967626,
"vortex_depart_height_m": 0.24568455224815283,
"vortex_frequency_hz": 39.78925694504152,
"vortex_phase_rad": 2.386610716142459,
"vortex_radius_m": 0.0005108757957331567,
"vortex_tilt_deg": 0.35558044578710635
},
"trajectory_validation": {
"duration_s": 14.827021553939666,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 7.473417450352271e-16,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.003352053385176932,
"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": 0.5394876779296967,
"release_time_s": 11.658630744189178,
"target_surface": "floor",
"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": [
0.18985459365634094,
-0.15250563225445657,
0.8152000000000001
],
"tube_start_position": [
0.12469694572160013,
-0.028382786188100327,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "df16714a1aa276b1d78acb0c23a1513ecbe0b3d33b9a2011181bb0ee4b717a08",
"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": 0.012360677083333334,
"mean_luminance": 148.74293518066406,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
74,
148,
222,
296,
370,
444
],
"spatial_standard_deviation": 36.32958984375,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.5170498577647059,
-0.07026114797833669,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
-0.5043620947636462,
-0.10690975873002741,
0.79
],
"vortex_yaw_deg": 28.14530348109888,
"wrong_orientation": {
"azimuth_deg": 121.76817341207425,
"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": [
0.24110687522907548,
0.2638654539901998,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 164.2154676054771,
"release_lateral_offset_m": 0.019429642076120583,
"release_phase_fraction": 0.6546040937066065,
"release_tilt_deg": 22.378692800144677,
"release_time_s": 13.63706170758981,
"slot_offset_xy": [
-0.04,
0.019
],
"tube_target_position": [
0.2013497202159847,
0.24436241255392446,
0.8500000000000001
],
"yaw_deg": 51.53817436066093
}
}