xspcz's picture
Add files using upload-large-folder tool
0a75272 verified
Raw History Blame Contribute Delete
25.9 kB
{
"background": {
"accent_color_rgb": [
0.815931671476734,
0.6904409871886203,
0.1886396104523771
],
"cabinet_color_rgb": [
0.6471088283679646,
0.6930718473086298,
0.6454600269368403
],
"floor_color_rgb": [
0.2694199222843294,
0.343800559662441,
0.2970835114990829
],
"screen_color_rgb": [
0.2938668869711942,
0.7297343939369418,
0.8414196556591246
],
"style": "biosafety",
"wall_color_rgb": [
0.7095154887181122,
0.8198991507952041,
0.8035337267752614
]
},
"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-006",
"pitch_deg": 0.0,
"position": [
0.004930025644649394,
0.261507579686754,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.7945851007560868,
"yaw_deg": -96.6310415435504
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
0.2800058132817006,
-0.44339087020954143,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.09223598066716,
"yaw_deg": 55.04935050538293
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.45253587371284043,
0.3202384392272227,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9317142519154897,
"yaw_deg": 161.93476106688604
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
-0.20383791177148314,
-0.15677613893327924,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1101346672285703,
"yaw_deg": 147.67511131098235
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
-0.6898087661300677,
-0.23006810070910325,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9480061631428791,
"yaw_deg": 139.02835438401337
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.09791209633644993,
1.1602909797871994,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0867239102106945,
"yaw_deg": -86.61427915118716
},
{
"asset_id": "PIP-001",
"pitch_deg": -91.59229490115224,
"position": [
-0.4954915716919279,
-0.09325757593301381,
0.8092019333538637
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0904917407500665,
"yaw_deg": 143.12068396833962
},
{
"asset_id": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.6306424651414535,
0.03113208518191174,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.959136804072195,
"yaw_deg": 16.63259543580574
},
{
"asset_id": "AUX-TR-003",
"pitch_deg": 0.0,
"position": [
-0.5684039625905245,
0.12250023903897106,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1775823685297462,
"yaw_deg": -152.21252037395345
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.3290929322539241,
0.047670450266698694,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1129215861750261,
"yaw_deg": -123.40983202221125
}
],
"duration_s": 16.041007326165758,
"episode_id": 5,
"error_type": "wrong_orientation",
"frame_count": 481,
"generation_success": true,
"light_color_rgb": [
0.9633441982958504,
0.92,
0.92
],
"light_intensity": 1645.6095771381292,
"liquid": {
"color_rgb": [
0.38168641814661564,
0.19213007814587016,
0.04350990496346303
],
"fill_fraction": 0.4811381812424759,
"opacity": 0.8243214494530549,
"vortex_level_rise_fraction": 0.21737982308975848
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.498332859279347,
"direction_azimuth_deg": 26.298356935691828,
"lateral_speed_mps": 0.04760953161460374,
"phase": "lower_to_rack",
"phase_fraction": 0.7479327931484772,
"release_clearance_m": 0.00615064928952414,
"release_tilt_deg": 140.60013358603953,
"stage": "insertion",
"tip_duration_s": 0.4613692509685254,
"trigger_time_s": 14.887288338777502,
"tube_detach_fraction": 0.45214577638694864,
"tube_engagement_fraction": 0.5208597693087349,
"tube_on_rack": true,
"upward_speed_mps": 0.04910679818284143
},
"rack_id": "TR-004",
"rack_position": [
-0.25986014126606827,
0.08642150409053245,
0.79
],
"rack_yaw_deg": -43.689090213034056,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-005",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 10,
"placements": [
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
0.004930025644649394,
0.261507579686754,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.7945851007560868,
"yaw_deg": -96.6310415435504
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
0.2800058132817006,
-0.44339087020954143,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.09223598066716,
"yaw_deg": 55.04935050538293
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.45253587371284043,
0.3202384392272227,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9317142519154897,
"yaw_deg": 161.93476106688604
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
-0.20383791177148314,
-0.15677613893327924,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1101346672285703,
"yaw_deg": 147.67511131098235
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
-0.6898087661300677,
-0.23006810070910325,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9480061631428791,
"yaw_deg": 139.02835438401337
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.09791209633644993,
1.1602909797871994,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0867239102106945,
"yaw_deg": -86.61427915118716
},
{
"asset_id": "PIP-001",
"pitch_deg": -91.59229490115224,
"position": [
-0.4954915716919279,
-0.09325757593301381,
0.8092019333538637
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0904917407500665,
"yaw_deg": 143.12068396833962
},
{
"asset_id": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.6306424651414535,
0.03113208518191174,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.959136804072195,
"yaw_deg": 16.63259543580574
},
{
"asset_id": "AUX-TR-003",
"pitch_deg": 0.0,
"position": [
-0.5684039625905245,
0.12250023903897106,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1775823685297462,
"yaw_deg": -152.21252037395345
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.3290929322539241,
0.047670450266698694,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1129215861750261,
"yaw_deg": -123.40983202221125
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.815931671476734,
0.6904409871886203,
0.1886396104523771
],
"cabinet_color_rgb": [
0.6471088283679646,
0.6930718473086298,
0.6454600269368403
],
"floor_color_rgb": [
0.2694199222843294,
0.343800559662441,
0.2970835114990829
],
"screen_color_rgb": [
0.2938668869711942,
0.7297343939369418,
0.8414196556591246
],
"style": "biosafety",
"wall_color_rgb": [
0.7095154887181122,
0.8198991507952041,
0.8035337267752614
]
},
"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": [
0.9633441982958504,
0.92,
0.92
],
"light_intensity": 1645.6095771381292,
"table_color_rgb": [
0.36,
0.42,
0.48
]
},
"layout": {
"rack_position_m": [
-0.25986014126606827,
0.08642150409053245,
0.79
],
"rack_to_vortex_bearing_deg": -25.915851499244898,
"rack_to_vortex_distance_m": 0.8520582443430819,
"rack_yaw_deg": -43.689090213034056,
"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": [
-0.2417826741435873,
0.06915288566184453,
0.8394
],
"tube_start_position_m": [
-0.31409254263351116,
0.1382273593765962,
0.8394
],
"vortex_contact_position_m": [
0.5383177290408273,
-0.2637781656606365,
0.9580000000000001
],
"vortex_position_m": [
0.5065124834308298,
-0.2859711003851774,
0.79
],
"vortex_yaw_deg": -46.04416213383561
},
"liquid": {
"color_rgb": [
0.38168641814661564,
0.19213007814587016,
0.04350990496346303
],
"effective_peak_level_fraction": 0.6985180043322344,
"effective_vortex_level_rise_fraction": 0.21737982308975848,
"fill_fraction": 0.4811381812424759,
"opacity": 0.8243214494530549,
"present": true,
"vortex_level_rise_fraction": 0.21737982308975848
},
"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": 25310913,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.004320885825550859,
"depart_pattern": "straight",
"depart_sway_m": -0.006497887315647943,
"handling_noise_amplitude_m": 0.002581999976449769,
"handling_noise_frequency_hz": 1.5916218182153483,
"handling_noise_phase_xyz_rad": [
2.7051164213770313,
0.6133579835719546,
2.9083625241878726
],
"lift_height_m": 0.15993112910259297,
"orientation_noise_deg": 7.428478012273073,
"outbound_curve_bias": -0.5348336004374548,
"outbound_pattern": "high_arc",
"phase_boundaries_s": {
"final_hold": [
15.12399293697245,
16.041007326165758
],
"initial_hold": [
0.0,
1.1029266204368566
],
"lift_from_rack": [
1.1029266204368566,
2.3324888974730613
],
"lower_to_rack": [
14.184939415685268,
15.12399293697245
],
"lower_to_vortex": [
4.673272759353596,
6.2187198570912
],
"raise_from_vortex": [
10.242732544243081,
11.123920414559377
],
"transfer_to_rack": [
11.123920414559377,
14.184939415685268
],
"transfer_to_vortex": [
2.3324888974730613,
4.673272759353596
],
"vortex": [
6.2187198570912,
10.242732544243081
]
},
"pick_line_azimuth_deg": -108.0504429100039,
"pick_line_tilt_deg": 11.129279711614071,
"pick_pattern": "lean",
"pick_sway_m": 0.0021238988358128746,
"put_pattern": "s_sway",
"put_sway_m": -0.0033709476193953007,
"rack_put_height_m": 0.3059560230027206,
"return_bend_scale": 1.6270856256643733,
"return_curve_bias": -0.1774011492191735,
"return_pattern": "direct",
"return_side": 1.0,
"return_vertical_arc_scale": 0.9227126487201597,
"transfer_bend_m": 0.23805709278182333,
"transfer_side": -1.0,
"transport_tilt_deg": 6.9156721283068325,
"vertical_arc_m": 0.21895504422488143,
"vortex_apparent_frequency_hz": 7.790740170305305,
"vortex_approach_height_m": 0.3157499887412727,
"vortex_depart_height_m": 0.1464750762983171,
"vortex_frequency_hz": 37.790740170305305,
"vortex_phase_rad": 1.6086643481629148,
"vortex_radius_m": 0.000589384610706217,
"vortex_tilt_deg": 0.8644507929304325
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.025,
0.0
],
"scene_id": "wrong_orientation/scene_000005",
"schema_version": 15,
"seed": 25310913,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "296019fbcfc203e6cf1e5daeb88515717c1f0f490bc383e1c40b42f32e886b69",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.075,
0.0
],
"subtype_event": {
"category": "wrong_orientation",
"event_phase": "vortex",
"is_failure": true,
"randomized_parameters": {
"azimuth_deg": -120.53771950574628,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"realized_outcome": {
"azimuth_deg": -120.53771950574628,
"liquid_level_rise_enabled": true,
"orientation_mode": "upside_down",
"tilt_deg_from_z": 180.0,
"vortex_motion_enabled": true
},
"time_window_s": [
6.2187198570912,
10.242732544243081
]
},
"table_color_rgb": [
0.36,
0.42,
0.48
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.004320885825550859,
"depart_pattern": "straight",
"depart_sway_m": -0.006497887315647943,
"handling_noise_amplitude_m": 0.002581999976449769,
"handling_noise_frequency_hz": 1.5916218182153483,
"handling_noise_phase_xyz_rad": [
2.7051164213770313,
0.6133579835719546,
2.9083625241878726
],
"lift_height_m": 0.15993112910259297,
"orientation_noise_deg": 7.428478012273073,
"outbound_curve_bias": -0.5348336004374548,
"outbound_pattern": "high_arc",
"phase_boundaries_s": {
"final_hold": [
15.12399293697245,
16.041007326165758
],
"initial_hold": [
0.0,
1.1029266204368566
],
"lift_from_rack": [
1.1029266204368566,
2.3324888974730613
],
"lower_to_rack": [
14.184939415685268,
15.12399293697245
],
"lower_to_vortex": [
4.673272759353596,
6.2187198570912
],
"raise_from_vortex": [
10.242732544243081,
11.123920414559377
],
"transfer_to_rack": [
11.123920414559377,
14.184939415685268
],
"transfer_to_vortex": [
2.3324888974730613,
4.673272759353596
],
"vortex": [
6.2187198570912,
10.242732544243081
]
},
"pick_line_azimuth_deg": -108.0504429100039,
"pick_line_tilt_deg": 11.129279711614071,
"pick_pattern": "lean",
"pick_sway_m": 0.0021238988358128746,
"put_pattern": "s_sway",
"put_sway_m": -0.0033709476193953007,
"rack_put_height_m": 0.3059560230027206,
"return_bend_scale": 1.6270856256643733,
"return_curve_bias": -0.1774011492191735,
"return_pattern": "direct",
"return_side": 1.0,
"return_vertical_arc_scale": 0.9227126487201597,
"transfer_bend_m": 0.23805709278182333,
"transfer_side": -1.0,
"transport_tilt_deg": 6.9156721283068325,
"vertical_arc_m": 0.21895504422488143,
"vortex_apparent_frequency_hz": 7.790740170305305,
"vortex_approach_height_m": 0.3157499887412727,
"vortex_depart_height_m": 0.1464750762983171,
"vortex_frequency_hz": 37.790740170305305,
"vortex_phase_rad": 1.6086643481629148,
"vortex_radius_m": 0.000589384610706217,
"vortex_tilt_deg": 0.8644507929304325
},
"trajectory_validation": {
"duration_s": 16.041007326165758,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 6.783101530377609e-16,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.0035209392825062253,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 180.0,
"wrong_orientation_min_tilt_deg": 179.13554920723604,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_vortex",
"phase_fraction": 0.37999999999999995,
"release_time_s": 3.2219867649876646,
"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": [
-0.2417826741435873,
0.06915288566184453,
0.8394
],
"tube_start_position": [
-0.31409254263351116,
0.1382273593765962,
0.8394
],
"video": "front.mp4",
"video_sha256": "44de9b6849e37771567de50084992b7d162a980f449115cb81f3c2a58e349bcc",
"video_validation": {
"actual_frame_count": 481,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 481,
"frame_count_valid": true,
"full_decode_frame_count": 481,
"max_changed_pixel_fraction": 0.013057291666666667,
"mean_luminance": 148.23800659179688,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
80,
160,
240,
320,
400,
480
],
"spatial_standard_deviation": 35.12736129760742,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.5383177290408273,
-0.2637781656606365,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
0.5065124834308298,
-0.2859711003851774,
0.79
],
"vortex_yaw_deg": -46.04416213383561,
"wrong_orientation": {
"azimuth_deg": -120.53771950574628,
"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": [
0.11975560459302492,
-0.3186221231129297,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -50.95703954429882,
"release_lateral_offset_m": 0.01886806889881866,
"release_phase_fraction": 0.7146776919333827,
"release_tilt_deg": 24.897136441771615,
"release_time_s": 14.856060018880706,
"slot_offset_xy": [
0.0,
-0.019
],
"tube_target_position": [
0.10557966740735314,
-0.33127292565300154,
0.8500000000000001
],
"yaw_deg": -48.25383620830746
}
}