xspcz's picture
Add files using upload-large-folder tool
0a75272 verified
Raw History Blame Contribute Delete
25.9 kB
{
"background": {
"accent_color_rgb": [
0.6151945895754689,
0.37348664507472973,
0.7587306729544464
],
"cabinet_color_rgb": [
0.22504466141149426,
0.30321680372343607,
0.3427415930855599
],
"floor_color_rgb": [
0.2051669013272797,
0.17999824946602427,
0.2773928530394755
],
"screen_color_rgb": [
0.2440605319619158,
0.7200517091524261,
0.8871535340229177
],
"style": "instrument_bay",
"wall_color_rgb": [
0.36358638599973225,
0.40289784105924076,
0.4738833816288322
]
},
"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": 88.7206201146514,
"position": [
-0.6275333019316522,
0.1786432812232377,
0.8100221451735323
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8996380264300574,
"yaw_deg": 90.11495177823195
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
0.5033580648115532,
0.15027767174254614,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.004632703620993,
"yaw_deg": -148.8114059400496
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.005248193047803773,
-0.23760760033101408,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9030175495137748,
"yaw_deg": -76.75617692277383
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
0.10482052591024549,
1.2545143183395908,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0034949559633897,
"yaw_deg": 30.686986107612768
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
0.1903108833700088,
1.0365154308303774,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1134168070337243,
"yaw_deg": -144.21059468122343
},
{
"asset_id": "PIP-017",
"pitch_deg": 0.0,
"position": [
0.10429443128535631,
0.22007864703842206,
0.8096854584447173
],
"roll_deg": -89.55511084378739,
"surface": "main_table",
"uniform_scale": 1.1352342274980622,
"yaw_deg": -109.36236493120964
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.6941223140844311,
0.3212772271336711,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8882895275844586,
"yaw_deg": -105.97416740989783
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.5782571915027976,
1.143467017267577,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.088772584218112,
"yaw_deg": 67.36898838389047
},
{
"asset_id": "TIP-002",
"pitch_deg": 0.0,
"position": [
0.33191738101471346,
0.3438551597128026,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1469833224272339,
"yaw_deg": 60.25377260188924
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
-0.3800068458322591,
-0.3537118604209208,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.843645201353899,
"yaw_deg": -145.9444973706888
}
],
"duration_s": 18.424244667892307,
"episode_id": 39,
"error_type": "wrong_orientation",
"frame_count": 553,
"generation_success": true,
"light_color_rgb": [
0.9877610557639651,
0.92,
0.92
],
"light_intensity": 2670.978963562471,
"liquid": {
"color_rgb": [
0.045209574154226384,
0.25650644061513256,
0.3360322970631757
],
"fill_fraction": 0.5343493415357181,
"opacity": 0.8604599878262038,
"vortex_level_rise_fraction": 0.19568943975419176
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.158441295920764,
"direction_azimuth_deg": -60.50095045931728,
"lateral_speed_mps": 0.07761198412908604,
"phase": "lift_from_rack",
"phase_fraction": 0.4391860885242078,
"release_clearance_m": 0.00558048544946894,
"release_tilt_deg": 112.87534326708042,
"stage": "pickup",
"tip_duration_s": 0.4276377242405909,
"trigger_time_s": 1.9330423483730965,
"tube_detach_fraction": 0.4453223652601141,
"tube_engagement_fraction": 0.3971992812379339,
"tube_on_rack": true,
"upward_speed_mps": 0.09790220911021436
},
"rack_id": "TR-004",
"rack_position": [
-0.6184404724161077,
-0.28621115849539625,
0.79
],
"rack_yaw_deg": 8.819405875875958,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-003"
},
"distractors": {
"count": 10,
"placements": [
{
"asset_id": "PIP-007",
"pitch_deg": 88.7206201146514,
"position": [
-0.6275333019316522,
0.1786432812232377,
0.8100221451735323
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8996380264300574,
"yaw_deg": 90.11495177823195
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
0.5033580648115532,
0.15027767174254614,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.004632703620993,
"yaw_deg": -148.8114059400496
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.005248193047803773,
-0.23760760033101408,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9030175495137748,
"yaw_deg": -76.75617692277383
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
0.10482052591024549,
1.2545143183395908,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0034949559633897,
"yaw_deg": 30.686986107612768
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
0.1903108833700088,
1.0365154308303774,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1134168070337243,
"yaw_deg": -144.21059468122343
},
{
"asset_id": "PIP-017",
"pitch_deg": 0.0,
"position": [
0.10429443128535631,
0.22007864703842206,
0.8096854584447173
],
"roll_deg": -89.55511084378739,
"surface": "main_table",
"uniform_scale": 1.1352342274980622,
"yaw_deg": -109.36236493120964
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.6941223140844311,
0.3212772271336711,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8882895275844586,
"yaw_deg": -105.97416740989783
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.5782571915027976,
1.143467017267577,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.088772584218112,
"yaw_deg": 67.36898838389047
},
{
"asset_id": "TIP-002",
"pitch_deg": 0.0,
"position": [
0.33191738101471346,
0.3438551597128026,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1469833224272339,
"yaw_deg": 60.25377260188924
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
-0.3800068458322591,
-0.3537118604209208,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.843645201353899,
"yaw_deg": -145.9444973706888
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.6151945895754689,
0.37348664507472973,
0.7587306729544464
],
"cabinet_color_rgb": [
0.22504466141149426,
0.30321680372343607,
0.3427415930855599
],
"floor_color_rgb": [
0.2051669013272797,
0.17999824946602427,
0.2773928530394755
],
"screen_color_rgb": [
0.2440605319619158,
0.7200517091524261,
0.8871535340229177
],
"style": "instrument_bay",
"wall_color_rgb": [
0.36358638599973225,
0.40289784105924076,
0.4738833816288322
]
},
"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": [
0.9877610557639651,
0.92,
0.92
],
"light_intensity": 2670.978963562471,
"table_color_rgb": [
0.18,
0.48,
0.28
]
},
"layout": {
"rack_position_m": [
-0.6184404724161077,
-0.28621115849539625,
0.79
],
"rack_to_vortex_bearing_deg": 41.030428969103646,
"rack_to_vortex_distance_m": 0.4709135047898785,
"rack_yaw_deg": 8.819405875875958,
"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": [
-0.6431448851413271,
-0.2900441719185423,
0.8529
],
"tube_start_position_m": [
-0.6925537105917658,
-0.29771019876483445,
0.8529
],
"vortex_contact_position_m": [
-0.28607625971345185,
0.07654999894429859,
1.0265
],
"vortex_position_m": [
-0.2632016663717567,
0.02292460403244667,
0.79
],
"vortex_yaw_deg": 23.297841530088903
},
"liquid": {
"color_rgb": [
0.045209574154226384,
0.25650644061513256,
0.3360322970631757
],
"effective_peak_level_fraction": 0.7300387812899098,
"effective_vortex_level_rise_fraction": 0.19568943975419176,
"fill_fraction": 0.5343493415357181,
"opacity": 0.8604599878262038,
"present": true,
"vortex_level_rise_fraction": 0.19568943975419176
},
"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": 25650910,
"trajectory": {
"approach_pattern": "spiral",
"approach_sway_m": -0.004196437637138638,
"depart_pattern": "s_sway",
"depart_sway_m": 0.0026616096896419934,
"handling_noise_amplitude_m": 0.0147807236837223,
"handling_noise_frequency_hz": 1.664759778902154,
"handling_noise_phase_xyz_rad": [
1.8462408279562885,
5.763770642642109,
6.156651148755586
],
"lift_height_m": 0.08409141689459798,
"orientation_noise_deg": 1.199509041570185,
"outbound_curve_bias": -0.21101177061733345,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
17.31108390185397,
18.424244667892307
],
"initial_hold": [
0.0,
1.2007077910067627
],
"lift_from_rack": [
1.2007077910067627,
2.868189017079268
],
"lower_to_rack": [
16.18669165280239,
17.31108390185397
],
"lower_to_vortex": [
5.87003177463712,
7.01148466576293
],
"raise_from_vortex": [
11.7213039052266,
13.139920561573447
],
"transfer_to_rack": [
13.139920561573447,
16.18669165280239
],
"transfer_to_vortex": [
2.868189017079268,
5.87003177463712
],
"vortex": [
7.01148466576293,
11.7213039052266
]
},
"pick_line_azimuth_deg": 86.21158920013431,
"pick_line_tilt_deg": 8.834251808854814,
"pick_pattern": "lean",
"pick_sway_m": 0.00816612922996041,
"put_pattern": "hook",
"put_sway_m": -0.006533200771532264,
"rack_put_height_m": 0.17668843382990526,
"return_bend_scale": 0.5566214062523606,
"return_curve_bias": -0.20500516149666215,
"return_pattern": "crescent",
"return_side": 1.0,
"return_vertical_arc_scale": 0.7699821371428511,
"transfer_bend_m": 0.1924252055797948,
"transfer_side": -1.0,
"transport_tilt_deg": 2.7476610451512764,
"vertical_arc_m": 0.19650234499983552,
"vortex_apparent_frequency_hz": 3.712606848345665,
"vortex_approach_height_m": 0.14169612272346768,
"vortex_depart_height_m": 0.13068959229015265,
"vortex_frequency_hz": 26.287393151654335,
"vortex_phase_rad": 5.841362682588251,
"vortex_radius_m": 0.00044708392792977564,
"vortex_tilt_deg": 0.40093947711893796
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.025,
0.0
],
"scene_id": "wrong_orientation/scene_000039",
"schema_version": 15,
"seed": 25650910,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "9e0792a2e29c2314253ec2895a205898cde0f99882aa10eb614ef9b806484430",
"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": 173.70150085805153,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"realized_outcome": {
"azimuth_deg": 173.70150085805153,
"liquid_level_rise_enabled": true,
"orientation_mode": "upside_down",
"tilt_deg_from_z": 180.0,
"vortex_motion_enabled": true
},
"time_window_s": [
7.01148466576293,
11.7213039052266
]
},
"table_color_rgb": [
0.18,
0.48,
0.28
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "spiral",
"approach_sway_m": -0.004196437637138638,
"depart_pattern": "s_sway",
"depart_sway_m": 0.0026616096896419934,
"handling_noise_amplitude_m": 0.0147807236837223,
"handling_noise_frequency_hz": 1.664759778902154,
"handling_noise_phase_xyz_rad": [
1.8462408279562885,
5.763770642642109,
6.156651148755586
],
"lift_height_m": 0.08409141689459798,
"orientation_noise_deg": 1.199509041570185,
"outbound_curve_bias": -0.21101177061733345,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
17.31108390185397,
18.424244667892307
],
"initial_hold": [
0.0,
1.2007077910067627
],
"lift_from_rack": [
1.2007077910067627,
2.868189017079268
],
"lower_to_rack": [
16.18669165280239,
17.31108390185397
],
"lower_to_vortex": [
5.87003177463712,
7.01148466576293
],
"raise_from_vortex": [
11.7213039052266,
13.139920561573447
],
"transfer_to_rack": [
13.139920561573447,
16.18669165280239
],
"transfer_to_vortex": [
2.868189017079268,
5.87003177463712
],
"vortex": [
7.01148466576293,
11.7213039052266
]
},
"pick_line_azimuth_deg": 86.21158920013431,
"pick_line_tilt_deg": 8.834251808854814,
"pick_pattern": "lean",
"pick_sway_m": 0.00816612922996041,
"put_pattern": "hook",
"put_sway_m": -0.006533200771532264,
"rack_put_height_m": 0.17668843382990526,
"return_bend_scale": 0.5566214062523606,
"return_curve_bias": -0.20500516149666215,
"return_pattern": "crescent",
"return_side": 1.0,
"return_vertical_arc_scale": 0.7699821371428511,
"transfer_bend_m": 0.1924252055797948,
"transfer_side": -1.0,
"transport_tilt_deg": 2.7476610451512764,
"vertical_arc_m": 0.19650234499983552,
"vortex_apparent_frequency_hz": 3.712606848345665,
"vortex_approach_height_m": 0.14169612272346768,
"vortex_depart_height_m": 0.13068959229015265,
"vortex_frequency_hz": 26.287393151654335,
"vortex_phase_rad": 5.841362682588251,
"vortex_radius_m": 0.00044708392792977564,
"vortex_tilt_deg": 0.40093947711893796
},
"trajectory_validation": {
"duration_s": 18.424244667892307,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 9.331199964942716e-16,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.004670789785368676,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 180.0,
"wrong_orientation_min_tilt_deg": 179.59906052297333,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_vortex",
"phase_fraction": 0.7748598336632013,
"release_time_s": 5.194196396883631,
"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": [
-0.6431448851413271,
-0.2900441719185423,
0.8529
],
"tube_start_position": [
-0.6925537105917658,
-0.29771019876483445,
0.8529
],
"video": "front.mp4",
"video_sha256": "cefde22f096d74bb16efd4b237ecfb1e6e04e2311dea562e0ab7641f790f3782",
"video_validation": {
"actual_frame_count": 553,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 553,
"frame_count_valid": true,
"full_decode_frame_count": 553,
"max_changed_pixel_fraction": 0.011149305555555556,
"mean_luminance": 111.76338958740234,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
92,
184,
276,
368,
460,
552
],
"spatial_standard_deviation": 34.78741455078125,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.28607625971345185,
0.07654999894429859,
1.0265
],
"vortex_id": "VTX-003",
"vortex_position": [
-0.2632016663717567,
0.02292460403244667,
0.79
],
"vortex_yaw_deg": 23.297841530088903,
"wrong_orientation": {
"azimuth_deg": 173.70150085805153,
"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": [
0.34169963769356604,
-0.09685792406845234,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -114.36229078238438,
"release_lateral_offset_m": 0.01940583104570629,
"release_phase_fraction": 0.7283850973936041,
"release_tilt_deg": 27.46062242157224,
"release_time_s": 17.00568221063644,
"slot_offset_xy": [
0.02,
-0.019
],
"tube_target_position": [
0.3439489989867029,
-0.12435229392435079,
0.8500000000000001
],
"yaw_deg": -41.79175144651428
}
}