xspcz's picture
Add files using upload-large-folder tool
c54586b verified
Raw History Blame Contribute Delete
25.9 kB
{
"background": {
"accent_color_rgb": [
0.8999120368659954,
0.5938766320147627,
0.14216577620336657
],
"cabinet_color_rgb": [
0.5543208389629135,
0.6403431192233379,
0.5931682112256474
],
"floor_color_rgb": [
0.2204001575071277,
0.3441798688241795,
0.3190488733621063
],
"screen_color_rgb": [
0.327043923741853,
0.7071958817238329,
0.6600872674575544
],
"style": "wet_lab",
"wall_color_rgb": [
0.6753929028041674,
0.7667102045159067,
0.7853009447661553
]
},
"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": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.25999760441624864,
0.06490542085296713,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9843888201808833,
"yaw_deg": 139.25795635632795
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.07565131242433865,
1.193911805935455,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0914141884895767,
"yaw_deg": 118.99768181794718
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
0.643752574407453,
0.3768995882394022,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8988646586687211,
"yaw_deg": 21.17472958792183
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
-0.2138808171889277,
1.2561184777569236,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8949610976836703,
"yaw_deg": -128.5239898144781
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
-0.15156792806018504,
1.1337357774613979,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.7892198114110237,
"yaw_deg": 20.526487890566358
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.16093537900038063,
0.21705517888674114,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1574409010897857,
"yaw_deg": 83.79618665910118
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.08437147044655802,
0.4496011164704234,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9002879379498804,
"yaw_deg": -28.25897334532806
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
-0.5295066376395328,
0.03855100095458758,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0787959370216207,
"yaw_deg": 17.873594141250152
},
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
0.5015431181059881,
1.2435141543902306,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.842962387181026,
"yaw_deg": 130.5456596841213
},
{
"asset_id": "PIP-001",
"pitch_deg": 90.30987140088142,
"position": [
0.35808569583420546,
0.3457151022965697,
0.8106560284846992
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1752786288454353,
"yaw_deg": 81.62667869186043
}
],
"duration_s": 16.800015080023556,
"episode_id": 10,
"error_type": "wrong_orientation",
"frame_count": 504,
"generation_success": true,
"light_color_rgb": [
0.9678304244091254,
0.92,
0.92
],
"light_intensity": 1957.4162752663856,
"liquid": {
"color_rgb": [
0.06336089181771819,
0.2663686311215415,
0.32051854364481364
],
"fill_fraction": 0.5259686823651952,
"opacity": 0.9311301951386862,
"vortex_level_rise_fraction": 0.21004573257917827
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.717854589015557,
"direction_azimuth_deg": 95.19703631617381,
"lateral_speed_mps": 0.026159244028953546,
"phase": "lift_from_rack",
"phase_fraction": 0.3283095383020278,
"release_clearance_m": 0.009633348031130171,
"release_tilt_deg": 139.36977620147002,
"stage": "pickup",
"tip_duration_s": 0.3125924924595087,
"trigger_time_s": 1.9622658443705867,
"tube_detach_fraction": 0.561721259011942,
"tube_engagement_fraction": 0.5765538267088753,
"tube_on_rack": true,
"upward_speed_mps": 0.047006191189496
},
"rack_id": "TR-002",
"rack_position": [
-0.17359800640603157,
-0.266982808106035,
0.79
],
"rack_yaw_deg": -45.40724523489351,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-003"
},
"distractors": {
"count": 10,
"placements": [
{
"asset_id": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.25999760441624864,
0.06490542085296713,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9843888201808833,
"yaw_deg": 139.25795635632795
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.07565131242433865,
1.193911805935455,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0914141884895767,
"yaw_deg": 118.99768181794718
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
0.643752574407453,
0.3768995882394022,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8988646586687211,
"yaw_deg": 21.17472958792183
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
-0.2138808171889277,
1.2561184777569236,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8949610976836703,
"yaw_deg": -128.5239898144781
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
-0.15156792806018504,
1.1337357774613979,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.7892198114110237,
"yaw_deg": 20.526487890566358
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.16093537900038063,
0.21705517888674114,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1574409010897857,
"yaw_deg": 83.79618665910118
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.08437147044655802,
0.4496011164704234,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9002879379498804,
"yaw_deg": -28.25897334532806
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
-0.5295066376395328,
0.03855100095458758,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0787959370216207,
"yaw_deg": 17.873594141250152
},
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
0.5015431181059881,
1.2435141543902306,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.842962387181026,
"yaw_deg": 130.5456596841213
},
{
"asset_id": "PIP-001",
"pitch_deg": 90.30987140088142,
"position": [
0.35808569583420546,
0.3457151022965697,
0.8106560284846992
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1752786288454353,
"yaw_deg": 81.62667869186043
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8999120368659954,
0.5938766320147627,
0.14216577620336657
],
"cabinet_color_rgb": [
0.5543208389629135,
0.6403431192233379,
0.5931682112256474
],
"floor_color_rgb": [
0.2204001575071277,
0.3441798688241795,
0.3190488733621063
],
"screen_color_rgb": [
0.327043923741853,
0.7071958817238329,
0.6600872674575544
],
"style": "wet_lab",
"wall_color_rgb": [
0.6753929028041674,
0.7667102045159067,
0.7853009447661553
]
},
"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": [
0.9678304244091254,
0.92,
0.92
],
"light_intensity": 1957.4162752663856,
"table_color_rgb": [
0.36,
0.42,
0.48
]
},
"layout": {
"rack_position_m": [
-0.17359800640603157,
-0.266982808106035,
0.79
],
"rack_to_vortex_bearing_deg": 2.9851495234865237,
"rack_to_vortex_distance_m": 0.6682389821643784,
"rack_yaw_deg": -45.40724523489351,
"return_slot_offset_xy_m": [
0.0,
0.068
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.034,
-0.034
],
"tube_return_position_m": [
-0.12517419797955032,
-0.21924252346637824,
0.8152000000000001
],
"tube_start_position_m": [
-0.22168005293910056,
-0.26664104621262275,
0.8152000000000001
],
"vortex_contact_position_m": [
0.44191638934064315,
-0.20546501606648143,
1.0265
],
"vortex_position_m": [
0.49373421966500036,
-0.23218284645137843,
0.79
],
"vortex_yaw_deg": 62.92043579850859
},
"liquid": {
"color_rgb": [
0.06336089181771819,
0.2663686311215415,
0.32051854364481364
],
"effective_peak_level_fraction": 0.7360144149443735,
"effective_vortex_level_rise_fraction": 0.21004573257917827,
"fill_fraction": 0.5259686823651952,
"opacity": 0.9311301951386862,
"present": true,
"vortex_level_rise_fraction": 0.21004573257917827
},
"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": 25360913,
"trajectory": {
"approach_pattern": "lean",
"approach_sway_m": 0.007173215718385148,
"depart_pattern": "lean",
"depart_sway_m": 0.011820692208051188,
"handling_noise_amplitude_m": 0.006668618113513919,
"handling_noise_frequency_hz": 2.180312490046457,
"handling_noise_phase_xyz_rad": [
0.058162487387260986,
4.857088378980564,
4.134765693243636
],
"lift_height_m": 0.07277346301693821,
"orientation_noise_deg": 2.482737013406367,
"outbound_curve_bias": -0.11216776014344843,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
15.917386138417843,
16.800015080023556
],
"initial_hold": [
0.0,
1.2787964913927388
],
"lift_from_rack": [
1.2787964913927388,
3.360579909908869
],
"lower_to_rack": [
14.995811478716671,
15.917386138417843
],
"lower_to_vortex": [
6.325625349044097,
7.00218064404639
],
"raise_from_vortex": [
10.30558071894234,
11.549019871146479
],
"transfer_to_rack": [
11.549019871146479,
14.995811478716671
],
"transfer_to_vortex": [
3.360579909908869,
6.325625349044097
],
"vortex": [
7.00218064404639,
10.30558071894234
]
},
"pick_line_azimuth_deg": 106.61328138086526,
"pick_line_tilt_deg": 4.529486893252205,
"pick_pattern": "s_sway",
"pick_sway_m": -0.008589098191694823,
"put_pattern": "straight",
"put_sway_m": -0.008097335950029028,
"rack_put_height_m": 0.1256814914517743,
"return_bend_scale": 1.3767665050267306,
"return_curve_bias": -0.6212211687077719,
"return_pattern": "high_arc",
"return_side": -1.0,
"return_vertical_arc_scale": 1.5503831088425597,
"transfer_bend_m": 0.22730084998128983,
"transfer_side": 1.0,
"transport_tilt_deg": 8.46590511093393,
"vertical_arc_m": 0.07348945921300992,
"vortex_apparent_frequency_hz": 5.448415039507687,
"vortex_approach_height_m": 0.1367937962583407,
"vortex_depart_height_m": 0.08256030303984403,
"vortex_frequency_hz": 24.551584960492313,
"vortex_phase_rad": 3.058981831595474,
"vortex_radius_m": 0.0005057282653481193,
"vortex_tilt_deg": 0.6605428827096439
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.0,
0.068
],
"scene_id": "wrong_orientation/scene_000010",
"schema_version": 15,
"seed": 25360913,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "0d9a621ca111d894c556df423eb19322c74096b6c9a51927de239bc1af1a2d4f",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.034,
-0.034
],
"subtype_event": {
"category": "wrong_orientation",
"event_phase": "vortex",
"is_failure": true,
"randomized_parameters": {
"azimuth_deg": 124.78496167007381,
"mode": "tilted",
"tilt_deg_from_z": 49.61952526823818
},
"realized_outcome": {
"azimuth_deg": 124.78496167007381,
"liquid_level_rise_enabled": true,
"orientation_mode": "tilted",
"tilt_deg_from_z": 49.61952526823818,
"vortex_motion_enabled": true
},
"time_window_s": [
7.00218064404639,
10.30558071894234
]
},
"table_color_rgb": [
0.36,
0.42,
0.48
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "lean",
"approach_sway_m": 0.007173215718385148,
"depart_pattern": "lean",
"depart_sway_m": 0.011820692208051188,
"handling_noise_amplitude_m": 0.006668618113513919,
"handling_noise_frequency_hz": 2.180312490046457,
"handling_noise_phase_xyz_rad": [
0.058162487387260986,
4.857088378980564,
4.134765693243636
],
"lift_height_m": 0.07277346301693821,
"orientation_noise_deg": 2.482737013406367,
"outbound_curve_bias": -0.11216776014344843,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
15.917386138417843,
16.800015080023556
],
"initial_hold": [
0.0,
1.2787964913927388
],
"lift_from_rack": [
1.2787964913927388,
3.360579909908869
],
"lower_to_rack": [
14.995811478716671,
15.917386138417843
],
"lower_to_vortex": [
6.325625349044097,
7.00218064404639
],
"raise_from_vortex": [
10.30558071894234,
11.549019871146479
],
"transfer_to_rack": [
11.549019871146479,
14.995811478716671
],
"transfer_to_vortex": [
3.360579909908869,
6.325625349044097
],
"vortex": [
7.00218064404639,
10.30558071894234
]
},
"pick_line_azimuth_deg": 106.61328138086526,
"pick_line_tilt_deg": 4.529486893252205,
"pick_pattern": "s_sway",
"pick_sway_m": -0.008589098191694823,
"put_pattern": "straight",
"put_sway_m": -0.008097335950029028,
"rack_put_height_m": 0.1256814914517743,
"return_bend_scale": 1.3767665050267306,
"return_curve_bias": -0.6212211687077719,
"return_pattern": "high_arc",
"return_side": -1.0,
"return_vertical_arc_scale": 1.5503831088425597,
"transfer_bend_m": 0.22730084998128983,
"transfer_side": 1.0,
"transport_tilt_deg": 8.46590511093393,
"vertical_arc_m": 0.07348945921300992,
"vortex_apparent_frequency_hz": 5.448415039507687,
"vortex_approach_height_m": 0.1367937962583407,
"vortex_depart_height_m": 0.08256030303984403,
"vortex_frequency_hz": 24.551584960492313,
"vortex_phase_rad": 3.058981831595474,
"vortex_radius_m": 0.0005057282653481193,
"vortex_tilt_deg": 0.6605428827096439
},
"trajectory_validation": {
"duration_s": 16.800015080023556,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 3.535759671556655e-15,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.005286663041895855,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 50.28006213867202,
"wrong_orientation_min_tilt_deg": 48.95918332791231,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_rack",
"phase_fraction": 0.7748983771859737,
"release_time_s": 14.219933094350854,
"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": [
-0.12517419797955032,
-0.21924252346637824,
0.8152000000000001
],
"tube_start_position": [
-0.22168005293910056,
-0.26664104621262275,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "3b1c30a8d275045f8ca2163ad45312cd211ed7be85bbab12075e39c447a1509c",
"video_validation": {
"actual_frame_count": 504,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 504,
"frame_count_valid": true,
"full_decode_frame_count": 504,
"max_changed_pixel_fraction": 0.013959201388888889,
"mean_luminance": 140.10972595214844,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
84,
168,
252,
335,
419,
503
],
"spatial_standard_deviation": 32.33414840698242,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.44191638934064315,
-0.20546501606648143,
1.0265
],
"vortex_id": "VTX-003",
"vortex_position": [
0.49373421966500036,
-0.23218284645137843,
0.79
],
"vortex_yaw_deg": 62.92043579850859,
"wrong_orientation": {
"azimuth_deg": 124.78496167007381,
"mode": "tilted",
"tilt_deg_from_z": 49.61952526823818
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.46564781392637267,
0.3239767847189118,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 13.833201799009117,
"release_lateral_offset_m": 0.019377438621190145,
"release_phase_fraction": 0.7438044299550187,
"release_tilt_deg": 35.24800260820235,
"release_time_s": 15.681282793136692,
"slot_offset_xy": [
0.02,
-0.019
],
"tube_target_position": [
-0.46363528294084816,
0.2964640654961177,
0.8500000000000001
],
"yaw_deg": -42.28511670071784
}
}