xspcz's picture
Add files using upload-large-folder tool
0a75272 verified
Raw History Blame Contribute Delete
24.7 kB
{
"background": {
"accent_color_rgb": [
0.8588769584081017,
0.5729248140580278,
0.1454427849394226
],
"cabinet_color_rgb": [
0.518403782837705,
0.6090378879602303,
0.5437457081584249
],
"floor_color_rgb": [
0.2626457319625013,
0.28897554918901,
0.23871797954834767
],
"screen_color_rgb": [
0.31786218119733667,
0.702940131478769,
0.6654710765604243
],
"style": "wet_lab",
"wall_color_rgb": [
0.6841828992651491,
0.7660274349017644,
0.733279813402426
]
},
"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-007",
"pitch_deg": 0.0,
"position": [
-0.5195617010541221,
0.2511203523823415,
0.798635399694547
],
"roll_deg": -88.59823927265289,
"surface": "main_table",
"uniform_scale": 0.8939999664337299,
"yaw_deg": -77.29939142326704
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.7119655257767177,
-0.1599055180336878,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0385665221343605,
"yaw_deg": 23.266662494260714
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.42522648149290265,
0.2566060261270061,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.7816702480961082,
"yaw_deg": -157.03603773206675
},
{
"asset_id": "PIP-008",
"pitch_deg": 89.85726318907385,
"position": [
0.38938870850638996,
-0.40075627502131556,
0.7996509544729024
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9946689644459055,
"yaw_deg": -150.8478052486226
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.4446887481818532,
-0.12727989733756923,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8000129912398115,
"yaw_deg": -61.67927490143022
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
0.6680607178525498,
1.3455351678774747,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9594772511601464,
"yaw_deg": 105.50472541398523
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.13027161747413774,
0.3957957750824577,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0009375995947356,
"yaw_deg": 116.78053724425757
},
{
"asset_id": "PIP-005",
"pitch_deg": -89.49199266102796,
"position": [
0.6612646597310736,
-0.352195239936412,
0.8120136611282959
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9353765707954717,
"yaw_deg": -16.390782987630274
}
],
"duration_s": 13.576605122856225,
"episode_id": 23,
"error_type": "wrong_orientation",
"frame_count": 407,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.9995353955889457
],
"light_intensity": 2569.176195131401,
"liquid": {
"color_rgb": [
0.32440162617657564,
0.07764217150959218,
0.16432545848474528
],
"fill_fraction": 0.40536359765113944,
"opacity": 0.9195756088560828,
"vortex_level_rise_fraction": 0.2023177854135418
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.4018526295622922,
"direction_azimuth_deg": -137.57009933796235,
"lateral_speed_mps": 0.056421463158854095,
"phase": "lower_to_rack",
"phase_fraction": 0.652713240367282,
"release_clearance_m": 0.0063673453268210806,
"release_tilt_deg": 139.4864014995868,
"stage": "insertion",
"tip_duration_s": 0.4418576706514902,
"trigger_time_s": 12.098754551548511,
"tube_detach_fraction": 0.5637220379953463,
"tube_engagement_fraction": 0.4608010765499598,
"tube_on_rack": true,
"upward_speed_mps": 0.05982790275234258
},
"rack_id": "TR-004",
"rack_position": [
-0.4780002895352936,
-0.022524429708468297,
0.79
],
"rack_yaw_deg": -1.653903226290872,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 8,
"placements": [
{
"asset_id": "PIP-007",
"pitch_deg": 0.0,
"position": [
-0.5195617010541221,
0.2511203523823415,
0.798635399694547
],
"roll_deg": -88.59823927265289,
"surface": "main_table",
"uniform_scale": 0.8939999664337299,
"yaw_deg": -77.29939142326704
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.7119655257767177,
-0.1599055180336878,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0385665221343605,
"yaw_deg": 23.266662494260714
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.42522648149290265,
0.2566060261270061,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.7816702480961082,
"yaw_deg": -157.03603773206675
},
{
"asset_id": "PIP-008",
"pitch_deg": 89.85726318907385,
"position": [
0.38938870850638996,
-0.40075627502131556,
0.7996509544729024
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9946689644459055,
"yaw_deg": -150.8478052486226
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.4446887481818532,
-0.12727989733756923,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8000129912398115,
"yaw_deg": -61.67927490143022
},
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
0.6680607178525498,
1.3455351678774747,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9594772511601464,
"yaw_deg": 105.50472541398523
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.13027161747413774,
0.3957957750824577,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0009375995947356,
"yaw_deg": 116.78053724425757
},
{
"asset_id": "PIP-005",
"pitch_deg": -89.49199266102796,
"position": [
0.6612646597310736,
-0.352195239936412,
0.8120136611282959
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9353765707954717,
"yaw_deg": -16.390782987630274
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8588769584081017,
0.5729248140580278,
0.1454427849394226
],
"cabinet_color_rgb": [
0.518403782837705,
0.6090378879602303,
0.5437457081584249
],
"floor_color_rgb": [
0.2626457319625013,
0.28897554918901,
0.23871797954834767
],
"screen_color_rgb": [
0.31786218119733667,
0.702940131478769,
0.6654710765604243
],
"style": "wet_lab",
"wall_color_rgb": [
0.6841828992651491,
0.7660274349017644,
0.733279813402426
]
},
"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,
0.9995353955889457
],
"light_intensity": 2569.176195131401,
"table_color_rgb": [
0.5,
0.46,
0.38
]
},
"layout": {
"rack_position_m": [
-0.4780002895352936,
-0.022524429708468297,
0.79
],
"rack_to_vortex_bearing_deg": 12.31493392819653,
"rack_to_vortex_distance_m": 0.6094201269154189,
"rack_yaw_deg": -1.653903226290872,
"return_slot_offset_xy_m": [
-0.025,
0.0
],
"returns_to_different_slot": false,
"start_slot_offset_xy_m": [
-0.025,
0.0
],
"tube_return_position_m": [
-0.5029898746430616,
-0.021802878503338733,
0.8529
],
"tube_start_position_m": [
-0.5029898746430616,
-0.021802878503338733,
0.8529
],
"vortex_contact_position_m": [
0.14829502092318547,
0.13089543192574082,
0.9580000000000001
],
"vortex_position_m": [
0.11739708981736097,
0.10745576782021826,
0.79
],
"vortex_yaw_deg": -43.766034470648535
},
"liquid": {
"color_rgb": [
0.32440162617657564,
0.07764217150959218,
0.16432545848474528
],
"effective_peak_level_fraction": 0.6076813830646812,
"effective_vortex_level_rise_fraction": 0.2023177854135418,
"fill_fraction": 0.40536359765113944,
"opacity": 0.9195756088560828,
"present": true,
"vortex_level_rise_fraction": 0.2023177854135418
},
"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": 25490909,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.0024557106901346207,
"depart_pattern": "spiral",
"depart_sway_m": -0.008530120212770317,
"handling_noise_amplitude_m": 0.005460237456841157,
"handling_noise_frequency_hz": 0.6200561986125284,
"handling_noise_phase_xyz_rad": [
0.009062378229423207,
0.37938547412971024,
5.30478202502472
],
"lift_height_m": 0.17933146974424508,
"orientation_noise_deg": 2.261599180105428,
"outbound_curve_bias": 0.36840191280993695,
"outbound_pattern": "hook",
"phase_boundaries_s": {
"final_hold": [
12.307904538437242,
13.576605122856225
],
"initial_hold": [
0.0,
0.8397268894014862
],
"lift_from_rack": [
0.8397268894014862,
1.940041605488812
],
"lower_to_rack": [
11.70566451319147,
12.307904538437242
],
"lower_to_vortex": [
4.890898849246849,
5.519756361183175
],
"raise_from_vortex": [
8.546474885824288,
9.408622310954392
],
"transfer_to_rack": [
9.408622310954392,
11.70566451319147
],
"transfer_to_vortex": [
1.940041605488812,
4.890898849246849
],
"vortex": [
5.519756361183175,
8.546474885824288
]
},
"pick_line_azimuth_deg": -54.82808009570667,
"pick_line_tilt_deg": 5.403282240812173,
"pick_pattern": "hook",
"pick_sway_m": -0.003795067869782946,
"put_pattern": "spiral",
"put_sway_m": -0.005279346918705422,
"rack_put_height_m": 0.12606194210883892,
"return_bend_scale": 1.2165719399663675,
"return_curve_bias": 0.23086452374619382,
"return_pattern": "loop",
"return_side": 1.0,
"return_vertical_arc_scale": 0.6276250279368853,
"transfer_bend_m": 0.207426037376554,
"transfer_side": -1.0,
"transport_tilt_deg": 12.754127480961985,
"vertical_arc_m": 0.2908955851983588,
"vortex_apparent_frequency_hz": 9.271682491911221,
"vortex_approach_height_m": 0.09491310764674284,
"vortex_depart_height_m": 0.19120885837360135,
"vortex_frequency_hz": 39.27168249191122,
"vortex_phase_rad": 5.009774846936964,
"vortex_radius_m": 0.00044861339146515147,
"vortex_tilt_deg": 0.4493511652813863
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.025,
0.0
],
"scene_id": "wrong_orientation/scene_000023",
"schema_version": 15,
"seed": 25490909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "7e477150e6788c0ab2f9def180c4ba86339d3ce107a52b808a7b8ae51489dad7",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.025,
0.0
],
"subtype_event": {
"category": "wrong_orientation",
"event_phase": "vortex",
"is_failure": true,
"randomized_parameters": {
"azimuth_deg": 52.57463330267845,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"realized_outcome": {
"azimuth_deg": 52.57463330267845,
"liquid_level_rise_enabled": true,
"orientation_mode": "upside_down",
"tilt_deg_from_z": 180.0,
"vortex_motion_enabled": true
},
"time_window_s": [
5.519756361183175,
8.546474885824288
]
},
"table_color_rgb": [
0.5,
0.46,
0.38
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.0024557106901346207,
"depart_pattern": "spiral",
"depart_sway_m": -0.008530120212770317,
"handling_noise_amplitude_m": 0.005460237456841157,
"handling_noise_frequency_hz": 0.6200561986125284,
"handling_noise_phase_xyz_rad": [
0.009062378229423207,
0.37938547412971024,
5.30478202502472
],
"lift_height_m": 0.17933146974424508,
"orientation_noise_deg": 2.261599180105428,
"outbound_curve_bias": 0.36840191280993695,
"outbound_pattern": "hook",
"phase_boundaries_s": {
"final_hold": [
12.307904538437242,
13.576605122856225
],
"initial_hold": [
0.0,
0.8397268894014862
],
"lift_from_rack": [
0.8397268894014862,
1.940041605488812
],
"lower_to_rack": [
11.70566451319147,
12.307904538437242
],
"lower_to_vortex": [
4.890898849246849,
5.519756361183175
],
"raise_from_vortex": [
8.546474885824288,
9.408622310954392
],
"transfer_to_rack": [
9.408622310954392,
11.70566451319147
],
"transfer_to_vortex": [
1.940041605488812,
4.890898849246849
],
"vortex": [
5.519756361183175,
8.546474885824288
]
},
"pick_line_azimuth_deg": -54.82808009570667,
"pick_line_tilt_deg": 5.403282240812173,
"pick_pattern": "hook",
"pick_sway_m": -0.003795067869782946,
"put_pattern": "spiral",
"put_sway_m": -0.005279346918705422,
"rack_put_height_m": 0.12606194210883892,
"return_bend_scale": 1.2165719399663675,
"return_curve_bias": 0.23086452374619382,
"return_pattern": "loop",
"return_side": 1.0,
"return_vertical_arc_scale": 0.6276250279368853,
"transfer_bend_m": 0.207426037376554,
"transfer_side": -1.0,
"transport_tilt_deg": 12.754127480961985,
"vertical_arc_m": 0.2908955851983588,
"vortex_apparent_frequency_hz": 9.271682491911221,
"vortex_approach_height_m": 0.09491310764674284,
"vortex_depart_height_m": 0.19120885837360135,
"vortex_frequency_hz": 39.27168249191122,
"vortex_phase_rad": 5.009774846936964,
"vortex_radius_m": 0.00044861339146515147,
"vortex_tilt_deg": 0.4493511652813863
},
"trajectory_validation": {
"duration_s": 13.576605122856225,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 2.3487515263864754e-15,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.0063798771536373025,
"valid": true,
"wrong_orientation_contact_error_m": 1.1102230246251565e-16,
"wrong_orientation_max_tilt_deg": 180.0,
"wrong_orientation_min_tilt_deg": 179.550648864363,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_vortex",
"phase_fraction": 0.21999999999999997,
"release_time_s": 2.58923019911558,
"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": [
-0.5029898746430616,
-0.021802878503338733,
0.8529
],
"tube_start_position": [
-0.5029898746430616,
-0.021802878503338733,
0.8529
],
"video": "front.mp4",
"video_sha256": "98b6f975607cc0f7e53259058087c77ad6344b3c8f75fd91fa98116f709c0d13",
"video_validation": {
"actual_frame_count": 407,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 407,
"frame_count_valid": true,
"full_decode_frame_count": 407,
"max_changed_pixel_fraction": 0.008291232638888889,
"mean_luminance": 143.80191040039062,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
68,
135,
203,
271,
338,
406
],
"spatial_standard_deviation": 32.258056640625,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.14829502092318547,
0.13089543192574082,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
0.11739708981736097,
0.10745576782021826,
0.79
],
"vortex_yaw_deg": -43.766034470648535,
"wrong_orientation": {
"azimuth_deg": 52.57463330267845,
"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": [
0.091814028348012,
-0.35649072910237867,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 99.78204692214047,
"release_lateral_offset_m": 0.020442023354327654,
"release_phase_fraction": 0.6467040693533416,
"release_tilt_deg": 33.83297847753724,
"release_time_s": 12.09513558824537,
"slot_offset_xy": [
0.04,
0.0
],
"tube_target_position": [
0.13175913329896177,
-0.3585856253904101,
0.8500000000000001
],
"yaw_deg": -3.0020913541697922
}
}