xspcz's picture
Add files using upload-large-folder tool
0a75272 verified
Raw History Blame Contribute Delete
26.1 kB
{
"background": {
"accent_color_rgb": [
0.21755040569243442,
0.4875512999220697,
0.7087803500031677
],
"cabinet_color_rgb": [
0.7091048076845574,
0.7983749214442983,
0.7430447989258119
],
"floor_color_rgb": [
0.2760899673834223,
0.39341526859040055,
0.35927657992763384
],
"screen_color_rgb": [
0.5008511607492014,
0.7593550136207079,
0.8953735073430051
],
"style": "clean_room",
"wall_color_rgb": [
0.7753649012483614,
0.8820886073689876,
0.8999658128275543
]
},
"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": "AUX-TR-003",
"pitch_deg": 0.0,
"position": [
0.32531539475932447,
0.21820900794991782,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9101863333769236,
"yaw_deg": -153.5612503610351
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
0.3379306342020614,
-0.28350453446233403,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8065315581665642,
"yaw_deg": -122.93399564073354
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
-0.6829716142003924,
0.4156481073781568,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0238211830453472,
"yaw_deg": -95.51794704514307
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
0.29372244754453836,
0.39194279491416395,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8135269120282395,
"yaw_deg": 143.57929071786134
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
0.6703688844024277,
1.2579611303649703,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0523913441585593,
"yaw_deg": -106.82922379818184
},
{
"asset_id": "PIP-017",
"pitch_deg": 0.0,
"position": [
-0.7538846052663093,
1.0525632193643915,
0.8477905787393185
],
"roll_deg": 88.23148467461908,
"surface": "rear_bench",
"uniform_scale": 1.0231111680070153,
"yaw_deg": -60.57824809916259
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.6130883932298501,
0.06429746253027241,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.134408632335586,
"yaw_deg": 34.68078699863483
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.35398165535621884,
1.2224635608916625,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0019453681716297,
"yaw_deg": -40.051210171364545
},
{
"asset_id": "PIP-008",
"pitch_deg": 0.0,
"position": [
0.08571697490366237,
1.2503160331792376,
0.8451810604729109
],
"roll_deg": 90.10615781635924,
"surface": "rear_bench",
"uniform_scale": 0.9919635454669502,
"yaw_deg": 160.25103359950606
},
{
"asset_id": "TIP-010",
"pitch_deg": 0.0,
"position": [
0.8264177615056221,
1.1045620605003854,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.122723894001364,
"yaw_deg": 84.03748788597159
}
],
"duration_s": 17.79798679739685,
"episode_id": 14,
"error_type": "wrong_orientation",
"frame_count": 534,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.9558756425141275
],
"light_intensity": 2588.5298533046735,
"liquid": {
"color_rgb": [
0.3822101939846434,
0.20329866659201704,
0.03996819425892955
],
"fill_fraction": 0.5171846699284847,
"opacity": 0.8995200353230012,
"vortex_level_rise_fraction": 0.22110582513467067
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.4033573392568077,
"direction_azimuth_deg": -85.12901432861884,
"lateral_speed_mps": 0.06197977812679297,
"phase": "lift_from_rack",
"phase_fraction": 0.3122503155833396,
"release_clearance_m": 0.008968068699845847,
"release_tilt_deg": 118.15534824676864,
"stage": "pickup",
"tip_duration_s": 0.38111096218049045,
"trigger_time_s": 1.6077329325577547,
"tube_detach_fraction": 0.5087784584427759,
"tube_engagement_fraction": 0.41511360854850593,
"tube_on_rack": true,
"upward_speed_mps": 0.07969456604734483
},
"rack_id": "TR-002",
"rack_position": [
-0.5276878361679483,
-0.21655370974616692,
0.79
],
"rack_yaw_deg": -14.853025304429757,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-002"
},
"distractors": {
"count": 10,
"placements": [
{
"asset_id": "AUX-TR-003",
"pitch_deg": 0.0,
"position": [
0.32531539475932447,
0.21820900794991782,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9101863333769236,
"yaw_deg": -153.5612503610351
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
0.3379306342020614,
-0.28350453446233403,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8065315581665642,
"yaw_deg": -122.93399564073354
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
-0.6829716142003924,
0.4156481073781568,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0238211830453472,
"yaw_deg": -95.51794704514307
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
0.29372244754453836,
0.39194279491416395,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8135269120282395,
"yaw_deg": 143.57929071786134
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
0.6703688844024277,
1.2579611303649703,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0523913441585593,
"yaw_deg": -106.82922379818184
},
{
"asset_id": "PIP-017",
"pitch_deg": 0.0,
"position": [
-0.7538846052663093,
1.0525632193643915,
0.8477905787393185
],
"roll_deg": 88.23148467461908,
"surface": "rear_bench",
"uniform_scale": 1.0231111680070153,
"yaw_deg": -60.57824809916259
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.6130883932298501,
0.06429746253027241,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.134408632335586,
"yaw_deg": 34.68078699863483
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.35398165535621884,
1.2224635608916625,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0019453681716297,
"yaw_deg": -40.051210171364545
},
{
"asset_id": "PIP-008",
"pitch_deg": 0.0,
"position": [
0.08571697490366237,
1.2503160331792376,
0.8451810604729109
],
"roll_deg": 90.10615781635924,
"surface": "rear_bench",
"uniform_scale": 0.9919635454669502,
"yaw_deg": 160.25103359950606
},
{
"asset_id": "TIP-010",
"pitch_deg": 0.0,
"position": [
0.8264177615056221,
1.1045620605003854,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.122723894001364,
"yaw_deg": 84.03748788597159
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.21755040569243442,
0.4875512999220697,
0.7087803500031677
],
"cabinet_color_rgb": [
0.7091048076845574,
0.7983749214442983,
0.7430447989258119
],
"floor_color_rgb": [
0.2760899673834223,
0.39341526859040055,
0.35927657992763384
],
"screen_color_rgb": [
0.5008511607492014,
0.7593550136207079,
0.8953735073430051
],
"style": "clean_room",
"wall_color_rgb": [
0.7753649012483614,
0.8820886073689876,
0.8999658128275543
]
},
"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,
0.9558756425141275
],
"light_intensity": 2588.5298533046735,
"table_color_rgb": [
0.5,
0.46,
0.38
]
},
"layout": {
"rack_position_m": [
-0.5276878361679483,
-0.21655370974616692,
0.79
],
"rack_to_vortex_bearing_deg": 25.151700056676813,
"rack_to_vortex_distance_m": 0.48453025958699897,
"rack_yaw_deg": -14.853025304429757,
"return_slot_offset_xy_m": [
-0.068,
0.068
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
0.034,
-0.068
],
"tube_return_position_m": [
-0.5759845748756911,
-0.13339467517868275,
0.8152000000000001
],
"tube_start_position_m": [
-0.5122550407790123,
-0.29099717034871575,
0.8152000000000001
],
"vortex_contact_position_m": [
-0.11197155954988842,
0.006317707799662967,
0.9790000000000001
],
"vortex_position_m": [
-0.08909799340179642,
-0.010620414046305066,
0.79
],
"vortex_yaw_deg": 34.40811157608016
},
"liquid": {
"color_rgb": [
0.3822101939846434,
0.20329866659201704,
0.03996819425892955
],
"effective_peak_level_fraction": 0.7382904950631554,
"effective_vortex_level_rise_fraction": 0.22110582513467067,
"fill_fraction": 0.5171846699284847,
"opacity": 0.8995200353230012,
"present": true,
"vortex_level_rise_fraction": 0.22110582513467067
},
"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": 25400913,
"trajectory": {
"approach_pattern": "straight",
"approach_sway_m": -0.011821484545537926,
"depart_pattern": "lean",
"depart_sway_m": 0.010149581982241664,
"handling_noise_amplitude_m": 0.0038262195923577528,
"handling_noise_frequency_hz": 2.0362729026696105,
"handling_noise_phase_xyz_rad": [
4.595496247372234,
3.0815370707275647,
1.1402547971653505
],
"lift_height_m": 0.11329175984918091,
"orientation_noise_deg": 2.694226973389915,
"outbound_curve_bias": -0.6680760873179342,
"outbound_pattern": "loop",
"phase_boundaries_s": {
"final_hold": [
16.61448303107736,
17.79798679739685
],
"initial_hold": [
0.0,
1.1267930205815602
],
"lift_from_rack": [
1.1267930205815602,
2.667031374152837
],
"lower_to_rack": [
15.605370481963323,
16.61448303107736
],
"lower_to_vortex": [
5.640256466174462,
6.756920141178448
],
"raise_from_vortex": [
10.681459529266242,
12.152114772556125
],
"transfer_to_rack": [
12.152114772556125,
15.605370481963323
],
"transfer_to_vortex": [
2.667031374152837,
5.640256466174462
],
"vortex": [
6.756920141178448,
10.681459529266242
]
},
"pick_line_azimuth_deg": -30.18898915476302,
"pick_line_tilt_deg": 7.5706139270346675,
"pick_pattern": "s_sway",
"pick_sway_m": -0.003875365099432486,
"put_pattern": "hook",
"put_sway_m": 0.0041623868428991365,
"rack_put_height_m": 0.36879106891432956,
"return_bend_scale": 1.7272436540226652,
"return_curve_bias": -0.14538575104209872,
"return_pattern": "late_swoop",
"return_side": -1.0,
"return_vertical_arc_scale": 1.2913556779625905,
"transfer_bend_m": 0.21593819704199077,
"transfer_side": -1.0,
"transport_tilt_deg": 0.34047140103457463,
"vertical_arc_m": 0.10954367163525361,
"vortex_apparent_frequency_hz": 5.1656316084607425,
"vortex_approach_height_m": 0.1974514040742679,
"vortex_depart_height_m": 0.22946259893446463,
"vortex_frequency_hz": 35.16563160846074,
"vortex_phase_rad": 5.326800528822531,
"vortex_radius_m": 0.0004409098293352071,
"vortex_tilt_deg": 0.7741860201087095
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.068,
0.068
],
"scene_id": "wrong_orientation/scene_000014",
"schema_version": 15,
"seed": 25400913,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "16d6fb20db57e136a798a6080db468c965544ce7e3104f2db12a44546ff40088",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
0.034,
-0.068
],
"subtype_event": {
"category": "wrong_orientation",
"event_phase": "vortex",
"is_failure": true,
"randomized_parameters": {
"azimuth_deg": 113.73440892128917,
"mode": "tilted",
"tilt_deg_from_z": 42.11324642797654
},
"realized_outcome": {
"azimuth_deg": 113.73440892128917,
"liquid_level_rise_enabled": true,
"orientation_mode": "tilted",
"tilt_deg_from_z": 42.11324642797654,
"vortex_motion_enabled": true
},
"time_window_s": [
6.756920141178448,
10.681459529266242
]
},
"table_color_rgb": [
0.5,
0.46,
0.38
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "straight",
"approach_sway_m": -0.011821484545537926,
"depart_pattern": "lean",
"depart_sway_m": 0.010149581982241664,
"handling_noise_amplitude_m": 0.0038262195923577528,
"handling_noise_frequency_hz": 2.0362729026696105,
"handling_noise_phase_xyz_rad": [
4.595496247372234,
3.0815370707275647,
1.1402547971653505
],
"lift_height_m": 0.11329175984918091,
"orientation_noise_deg": 2.694226973389915,
"outbound_curve_bias": -0.6680760873179342,
"outbound_pattern": "loop",
"phase_boundaries_s": {
"final_hold": [
16.61448303107736,
17.79798679739685
],
"initial_hold": [
0.0,
1.1267930205815602
],
"lift_from_rack": [
1.1267930205815602,
2.667031374152837
],
"lower_to_rack": [
15.605370481963323,
16.61448303107736
],
"lower_to_vortex": [
5.640256466174462,
6.756920141178448
],
"raise_from_vortex": [
10.681459529266242,
12.152114772556125
],
"transfer_to_rack": [
12.152114772556125,
15.605370481963323
],
"transfer_to_vortex": [
2.667031374152837,
5.640256466174462
],
"vortex": [
6.756920141178448,
10.681459529266242
]
},
"pick_line_azimuth_deg": -30.18898915476302,
"pick_line_tilt_deg": 7.5706139270346675,
"pick_pattern": "s_sway",
"pick_sway_m": -0.003875365099432486,
"put_pattern": "hook",
"put_sway_m": 0.0041623868428991365,
"rack_put_height_m": 0.36879106891432956,
"return_bend_scale": 1.7272436540226652,
"return_curve_bias": -0.14538575104209872,
"return_pattern": "late_swoop",
"return_side": -1.0,
"return_vertical_arc_scale": 1.2913556779625905,
"transfer_bend_m": 0.21593819704199077,
"transfer_side": -1.0,
"transport_tilt_deg": 0.34047140103457463,
"vertical_arc_m": 0.10954367163525361,
"vortex_apparent_frequency_hz": 5.1656316084607425,
"vortex_approach_height_m": 0.1974514040742679,
"vortex_depart_height_m": 0.22946259893446463,
"vortex_frequency_hz": 35.16563160846074,
"vortex_phase_rad": 5.326800528822531,
"vortex_radius_m": 0.0004409098293352071,
"vortex_tilt_deg": 0.7741860201087095
},
"trajectory_validation": {
"duration_s": 17.79798679739685,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 9.742167503148516e-16,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.004723053898162306,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 42.887427882740006,
"wrong_orientation_min_tilt_deg": 41.33908917555441,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_rack",
"phase_fraction": 0.6374287947086317,
"release_time_s": 14.353319397224256,
"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": [
-0.5759845748756911,
-0.13339467517868275,
0.8152000000000001
],
"tube_start_position": [
-0.5122550407790123,
-0.29099717034871575,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "30baeb5cd1841058276b5f01dcc853abaa4e217ed96c62e1f01bed638e5937d5",
"video_validation": {
"actual_frame_count": 534,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 534,
"frame_count_valid": true,
"full_decode_frame_count": 534,
"max_changed_pixel_fraction": 0.01212717013888889,
"mean_luminance": 157.3172149658203,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
89,
178,
266,
355,
444,
533
],
"spatial_standard_deviation": 33.092185974121094,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.11197155954988842,
0.006317707799662967,
0.9790000000000001
],
"vortex_id": "VTX-002",
"vortex_position": [
-0.08909799340179642,
-0.010620414046305066,
0.79
],
"vortex_yaw_deg": 34.40811157608016,
"wrong_orientation": {
"azimuth_deg": 113.73440892128917,
"mode": "tilted",
"tilt_deg_from_z": 42.11324642797654
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.44705636846621283,
0.3295134246689002,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 122.9397391038504,
"release_lateral_offset_m": 0.014386813093187378,
"release_phase_fraction": 0.7175261830413682,
"release_tilt_deg": 35.10464845581902,
"release_time_s": 16.329435157588264,
"slot_offset_xy": [
0.0,
-0.019
],
"tube_target_position": [
-0.46119324949753676,
0.31681899302718447,
0.8500000000000001
],
"yaw_deg": -48.07725460556051
}
}