xspcz's picture
Add files using upload-large-folder tool
c54586b verified
Raw History Blame Contribute Delete
22.7 kB
{
"background": {
"accent_color_rgb": [
0.8426168040538545,
0.6867175954309039,
0.19619063405577353
],
"cabinet_color_rgb": [
0.6437306379542772,
0.6882812116291616,
0.6639779503222937
],
"floor_color_rgb": [
0.2847656552374658,
0.3095761104819505,
0.31436858567780274
],
"screen_color_rgb": [
0.30265763638906695,
0.7398816116952599,
0.8264531539641063
],
"style": "biosafety",
"wall_color_rgb": [
0.6996566133835995,
0.8515629843544572,
0.8413582071114756
]
},
"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": "PIP-001",
"pitch_deg": 87.93260301033526,
"position": [
-0.24843599475910416,
1.2307442072763528,
0.8462554304965807
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9186839939697199,
"yaw_deg": -15.273798198709983
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.6936783317229689,
1.1656866304063402,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.10135859996738,
"yaw_deg": 161.4462290318013
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
-0.6220191328856349,
0.2108845032169132,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0155292350597838,
"yaw_deg": 169.54787424754386
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
0.11955274556372941,
0.3400626452997779,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8479122044612827,
"yaw_deg": 80.26358841112523
},
{
"asset_id": "PIP-008",
"pitch_deg": 91.03586149456564,
"position": [
-0.30618191268012257,
0.41796730990176045,
0.7977712185705724
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.7903498446274304,
"yaw_deg": 162.37377775447703
}
],
"duration_s": 16.15002427832297,
"episode_id": 13,
"error_type": "wrong_orientation",
"frame_count": 485,
"generation_success": true,
"light_color_rgb": [
0.9705752139486493,
0.92,
0.92
],
"light_intensity": 2089.7367488638756,
"liquid": {
"color_rgb": [
0.04137687665115926,
0.26225268144424835,
0.34209130035803936
],
"fill_fraction": 0.5405612531469317,
"opacity": 0.8213198242271087,
"vortex_level_rise_fraction": 0.22845260829863254
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.5517147076417896,
"direction_azimuth_deg": -104.72025416093237,
"lateral_speed_mps": 0.05557553044651199,
"phase": "lower_to_rack",
"phase_fraction": 0.7400110890580169,
"release_clearance_m": 0.00553809284008529,
"release_tilt_deg": 134.53675827648718,
"stage": "insertion",
"tip_duration_s": 0.3305097881967353,
"trigger_time_s": 15.000472530689425,
"tube_detach_fraction": 0.5735110854806144,
"tube_engagement_fraction": 0.5439903606535366,
"tube_on_rack": true,
"upward_speed_mps": 0.055448488562546076
},
"rack_id": "TR-004",
"rack_position": [
0.24620673690590011,
-0.20521268496265443,
0.79
],
"rack_yaw_deg": 21.804040112864598,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-005",
"vortex_id": "VTX-001"
},
"distractors": {
"count": 5,
"placements": [
{
"asset_id": "PIP-001",
"pitch_deg": 87.93260301033526,
"position": [
-0.24843599475910416,
1.2307442072763528,
0.8462554304965807
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9186839939697199,
"yaw_deg": -15.273798198709983
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.6936783317229689,
1.1656866304063402,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.10135859996738,
"yaw_deg": 161.4462290318013
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
-0.6220191328856349,
0.2108845032169132,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0155292350597838,
"yaw_deg": 169.54787424754386
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
0.11955274556372941,
0.3400626452997779,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8479122044612827,
"yaw_deg": 80.26358841112523
},
{
"asset_id": "PIP-008",
"pitch_deg": 91.03586149456564,
"position": [
-0.30618191268012257,
0.41796730990176045,
0.7977712185705724
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.7903498446274304,
"yaw_deg": 162.37377775447703
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8426168040538545,
0.6867175954309039,
0.19619063405577353
],
"cabinet_color_rgb": [
0.6437306379542772,
0.6882812116291616,
0.6639779503222937
],
"floor_color_rgb": [
0.2847656552374658,
0.3095761104819505,
0.31436858567780274
],
"screen_color_rgb": [
0.30265763638906695,
0.7398816116952599,
0.8264531539641063
],
"style": "biosafety",
"wall_color_rgb": [
0.6996566133835995,
0.8515629843544572,
0.8413582071114756
]
},
"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": [
0.9705752139486493,
0.92,
0.92
],
"light_intensity": 2089.7367488638756,
"table_color_rgb": [
0.18,
0.48,
0.28
]
},
"layout": {
"rack_position_m": [
0.24620673690590011,
-0.20521268496265443,
0.79
],
"rack_to_vortex_bearing_deg": 173.3984544402415,
"rack_to_vortex_distance_m": 0.5562086372974068,
"rack_yaw_deg": 21.804040112864598,
"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": [
0.26941822786119,
-0.1959268523326479,
0.8394
],
"tube_start_position_m": [
0.17657226404003035,
-0.23307018285267406,
0.8394
],
"vortex_contact_position_m": [
-0.32596299803813156,
-0.0884021308571672,
1.0070000000000001
],
"vortex_position_m": [
-0.3063140506834745,
-0.1412687447817786,
0.79
],
"vortex_yaw_deg": 20.388602424104448
},
"liquid": {
"color_rgb": [
0.04137687665115926,
0.26225268144424835,
0.34209130035803936
],
"effective_peak_level_fraction": 0.7690138614455643,
"effective_vortex_level_rise_fraction": 0.22845260829863254,
"fill_fraction": 0.5405612531469317,
"opacity": 0.8213198242271087,
"present": true,
"vortex_level_rise_fraction": 0.22845260829863254
},
"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": 25390909,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": 0.008880037082914391,
"depart_pattern": "s_sway",
"depart_sway_m": -0.0025837424516634106,
"handling_noise_amplitude_m": 0.012568559524538937,
"handling_noise_frequency_hz": 2.039424367109372,
"handling_noise_phase_xyz_rad": [
3.9850159585788854,
2.6274360558634293,
0.10932591183994726
],
"lift_height_m": 0.13950538028913367,
"orientation_noise_deg": 4.732155123529109,
"outbound_curve_bias": 0.4891835494601333,
"outbound_pattern": "wide_detour",
"phase_boundaries_s": {
"final_hold": [
15.212387940793528,
16.15002427832297
],
"initial_hold": [
0.0,
0.765838018759373
],
"lift_from_rack": [
0.765838018759373,
2.3304853105636605
],
"lower_to_rack": [
14.397293907219947,
15.212387940793528
],
"lower_to_vortex": [
4.954718118191275,
6.069897648662085
],
"raise_from_vortex": [
10.693772556220571,
11.356784916098608
],
"transfer_to_rack": [
11.356784916098608,
14.397293907219947
],
"transfer_to_vortex": [
2.3304853105636605,
4.954718118191275
],
"vortex": [
6.069897648662085,
10.693772556220571
]
},
"pick_line_azimuth_deg": -82.63894013890622,
"pick_line_tilt_deg": 8.947711702761765,
"pick_pattern": "s_sway",
"pick_sway_m": -0.0035174883075334076,
"put_pattern": "s_sway",
"put_sway_m": 0.005208686488055961,
"rack_put_height_m": 0.2692261062175715,
"return_bend_scale": 1.2647163255089218,
"return_curve_bias": 0.40845928647651975,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 1.3653100941335168,
"transfer_bend_m": 0.1003170053061439,
"transfer_side": 1.0,
"transport_tilt_deg": 0.19540985184995296,
"vertical_arc_m": 0.17117375990916958,
"vortex_apparent_frequency_hz": 5.016592936231433,
"vortex_approach_height_m": 0.20759744663151147,
"vortex_depart_height_m": 0.2694393819847256,
"vortex_frequency_hz": 35.01659293623143,
"vortex_phase_rad": 6.200547751324741,
"vortex_radius_m": 0.0003735516582521046,
"vortex_tilt_deg": 0.8376482395858164
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.025,
0.0
],
"scene_id": "wrong_orientation/scene_000013",
"schema_version": 15,
"seed": 25390909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "cc476d7d9a780db75f0382ecada378d8e48bdf79b0708d49536477cf11e00598",
"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": -56.417983440896535,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"realized_outcome": {
"azimuth_deg": -56.417983440896535,
"liquid_level_rise_enabled": true,
"orientation_mode": "upside_down",
"tilt_deg_from_z": 180.0,
"vortex_motion_enabled": true
},
"time_window_s": [
6.069897648662085,
10.693772556220571
]
},
"table_color_rgb": [
0.18,
0.48,
0.28
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": 0.008880037082914391,
"depart_pattern": "s_sway",
"depart_sway_m": -0.0025837424516634106,
"handling_noise_amplitude_m": 0.012568559524538937,
"handling_noise_frequency_hz": 2.039424367109372,
"handling_noise_phase_xyz_rad": [
3.9850159585788854,
2.6274360558634293,
0.10932591183994726
],
"lift_height_m": 0.13950538028913367,
"orientation_noise_deg": 4.732155123529109,
"outbound_curve_bias": 0.4891835494601333,
"outbound_pattern": "wide_detour",
"phase_boundaries_s": {
"final_hold": [
15.212387940793528,
16.15002427832297
],
"initial_hold": [
0.0,
0.765838018759373
],
"lift_from_rack": [
0.765838018759373,
2.3304853105636605
],
"lower_to_rack": [
14.397293907219947,
15.212387940793528
],
"lower_to_vortex": [
4.954718118191275,
6.069897648662085
],
"raise_from_vortex": [
10.693772556220571,
11.356784916098608
],
"transfer_to_rack": [
11.356784916098608,
14.397293907219947
],
"transfer_to_vortex": [
2.3304853105636605,
4.954718118191275
],
"vortex": [
6.069897648662085,
10.693772556220571
]
},
"pick_line_azimuth_deg": -82.63894013890622,
"pick_line_tilt_deg": 8.947711702761765,
"pick_pattern": "s_sway",
"pick_sway_m": -0.0035174883075334076,
"put_pattern": "s_sway",
"put_sway_m": 0.005208686488055961,
"rack_put_height_m": 0.2692261062175715,
"return_bend_scale": 1.2647163255089218,
"return_curve_bias": 0.40845928647651975,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 1.3653100941335168,
"transfer_bend_m": 0.1003170053061439,
"transfer_side": 1.0,
"transport_tilt_deg": 0.19540985184995296,
"vertical_arc_m": 0.17117375990916958,
"vortex_apparent_frequency_hz": 5.016592936231433,
"vortex_approach_height_m": 0.20759744663151147,
"vortex_depart_height_m": 0.2694393819847256,
"vortex_frequency_hz": 35.01659293623143,
"vortex_phase_rad": 6.200547751324741,
"vortex_radius_m": 0.0003735516582521046,
"vortex_tilt_deg": 0.8376482395858164
},
"trajectory_validation": {
"duration_s": 16.15002427832297,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 7.077671781985373e-16,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.002661751531557373,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 180.0,
"wrong_orientation_min_tilt_deg": 179.16235176114813,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_rack",
"phase_fraction": 0.6199999999999999,
"release_time_s": 13.241900490593837,
"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": [
0.26941822786119,
-0.1959268523326479,
0.8394
],
"tube_start_position": [
0.17657226404003035,
-0.23307018285267406,
0.8394
],
"video": "front.mp4",
"video_sha256": "0bcb699799c83232479f6d64f7c6c2d64842c5ac13a6ae684c2b7abdb587a44b",
"video_validation": {
"actual_frame_count": 485,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 485,
"frame_count_valid": true,
"full_decode_frame_count": 485,
"max_changed_pixel_fraction": 0.008856770833333333,
"mean_luminance": 144.9496612548828,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
81,
161,
242,
323,
403,
484
],
"spatial_standard_deviation": 38.721961975097656,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.32596299803813156,
-0.0884021308571672,
1.0070000000000001
],
"vortex_id": "VTX-001",
"vortex_position": [
-0.3063140506834745,
-0.1412687447817786,
0.79
],
"vortex_yaw_deg": 20.388602424104448,
"wrong_orientation": {
"azimuth_deg": -56.417983440896535,
"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": [
0.5058457574168386,
0.09942941177779774,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -175.66008812410445,
"release_lateral_offset_m": 0.019720725101527448,
"release_phase_fraction": 0.7475836488428156,
"release_tilt_deg": 26.48442386094248,
"release_time_s": 15.006644878988894,
"slot_offset_xy": [
-0.02,
-0.019
],
"tube_target_position": [
0.4799572217273101,
0.10895746088829299,
0.8500000000000001
],
"yaw_deg": -63.73689612961165
}
}