xspcz's picture
Add files using upload-large-folder tool
0a75272 verified
Raw History Blame Contribute Delete
22.1 kB
{
"background": {
"accent_color_rgb": [
0.22177921584684496,
0.48886598770703216,
0.6392546944910726
],
"cabinet_color_rgb": [
0.750204570957296,
0.7693272703883707,
0.7382948763809858
],
"floor_color_rgb": [
0.33381074476824546,
0.3762101181685659,
0.4275713641512224
],
"screen_color_rgb": [
0.5421426697506111,
0.7901269605304495,
0.9006828452679907
],
"style": "clean_room",
"wall_color_rgb": [
0.7756223259318916,
0.8250856654093992,
0.9195393865272125
]
},
"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-008",
"pitch_deg": 89.38422191381113,
"position": [
-0.3965826401749968,
1.2852041743689628,
0.8382827212193391
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8459479586238265,
"yaw_deg": -14.039630552688863
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.41867619799237865,
0.12345802932507549,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8991549918616885,
"yaw_deg": 156.69388635405863
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
0.5273104048307332,
0.014619811791095894,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.003825924476307,
"yaw_deg": 153.69216108061994
},
{
"asset_id": "PIP-018",
"pitch_deg": -89.33766312919691,
"position": [
0.5016424513317558,
-0.24651688154290924,
0.8258956968350073
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8904577820127625,
"yaw_deg": -6.087804139128025
}
],
"duration_s": 14.682906035586589,
"episode_id": 45,
"error_type": "wrong_orientation",
"frame_count": 440,
"generation_success": true,
"light_color_rgb": [
0.9857945386339263,
0.92,
0.92
],
"light_intensity": 1943.1119304089912,
"liquid": {
"color_rgb": [
0.0514070037633059,
0.25671134569177645,
0.32424500405768336
],
"fill_fraction": 0.4113554025951936,
"opacity": 0.8641082726224043,
"vortex_level_rise_fraction": 0.20113762296427928
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.8668246971863247,
"direction_azimuth_deg": -129.44904641739788,
"lateral_speed_mps": 0.07872778325884805,
"phase": "lower_to_rack",
"phase_fraction": 0.6345047729549922,
"release_clearance_m": 0.011828164652660973,
"release_tilt_deg": 109.55343475938639,
"stage": "insertion",
"tip_duration_s": 0.4184942730543797,
"trigger_time_s": 13.396946447521303,
"tube_detach_fraction": 0.48031205422011886,
"tube_engagement_fraction": 0.34387319467532496,
"tube_on_rack": true,
"upward_speed_mps": 0.07338874940730361
},
"rack_id": "TR-004",
"rack_position": [
0.18597974411415485,
0.32407300541441425,
0.79
],
"rack_yaw_deg": -18.36212378741665,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-005",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 4,
"placements": [
{
"asset_id": "PIP-008",
"pitch_deg": 89.38422191381113,
"position": [
-0.3965826401749968,
1.2852041743689628,
0.8382827212193391
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8459479586238265,
"yaw_deg": -14.039630552688863
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.41867619799237865,
0.12345802932507549,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8991549918616885,
"yaw_deg": 156.69388635405863
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
0.5273104048307332,
0.014619811791095894,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.003825924476307,
"yaw_deg": 153.69216108061994
},
{
"asset_id": "PIP-018",
"pitch_deg": -89.33766312919691,
"position": [
0.5016424513317558,
-0.24651688154290924,
0.8258956968350073
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8904577820127625,
"yaw_deg": -6.087804139128025
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.22177921584684496,
0.48886598770703216,
0.6392546944910726
],
"cabinet_color_rgb": [
0.750204570957296,
0.7693272703883707,
0.7382948763809858
],
"floor_color_rgb": [
0.33381074476824546,
0.3762101181685659,
0.4275713641512224
],
"screen_color_rgb": [
0.5421426697506111,
0.7901269605304495,
0.9006828452679907
],
"style": "clean_room",
"wall_color_rgb": [
0.7756223259318916,
0.8250856654093992,
0.9195393865272125
]
},
"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": [
0.9857945386339263,
0.92,
0.92
],
"light_intensity": 1943.1119304089912,
"table_color_rgb": [
0.5,
0.46,
0.38
]
},
"layout": {
"rack_position_m": [
0.18597974411415485,
0.32407300541441425,
0.79
],
"rack_to_vortex_bearing_deg": -131.17851449233407,
"rack_to_vortex_distance_m": 0.622929259841306,
"rack_yaw_deg": -18.36212378741665,
"return_slot_offset_xy_m": [
0.075,
0.0
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.025,
0.0
],
"tube_return_position_m": [
0.2571610792671652,
0.30044637793957535,
0.8394
],
"tube_start_position_m": [
0.16225263239648474,
0.33194854790602724,
0.8394
],
"vortex_contact_position_m": [
-0.2357918931510527,
-0.10778436353221477,
0.9580000000000001
],
"vortex_position_m": [
-0.22416140527539952,
-0.14478208983768232,
0.79
],
"vortex_yaw_deg": 26.500327131200805
},
"liquid": {
"color_rgb": [
0.0514070037633059,
0.25671134569177645,
0.32424500405768336
],
"effective_peak_level_fraction": 0.6124930255594729,
"effective_vortex_level_rise_fraction": 0.20113762296427928,
"fill_fraction": 0.4113554025951936,
"opacity": 0.8641082726224043,
"present": true,
"vortex_level_rise_fraction": 0.20113762296427928
},
"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": 25710918,
"trajectory": {
"approach_pattern": "spiral",
"approach_sway_m": 0.0029184652065085675,
"depart_pattern": "spiral",
"depart_sway_m": -0.005347652807457734,
"handling_noise_amplitude_m": 0.0075534798326937595,
"handling_noise_frequency_hz": 0.8703521485769746,
"handling_noise_phase_xyz_rad": [
2.2285429545003765,
0.16675728885299293,
3.279401236349492
],
"lift_height_m": 0.09108988975646952,
"orientation_noise_deg": 5.8021010326656395,
"outbound_curve_bias": -0.4685163445205247,
"outbound_pattern": "direct",
"phase_boundaries_s": {
"final_hold": [
13.673366423791201,
14.682906035586589
],
"initial_hold": [
0.0,
0.7815435202063644
],
"lift_from_rack": [
0.7815435202063644,
2.092773694785254
],
"lower_to_rack": [
12.917077542798895,
13.673366423791201
],
"lower_to_vortex": [
4.270799759963908,
5.275340020149287
],
"raise_from_vortex": [
8.880308454440836,
10.141875871883688
],
"transfer_to_rack": [
10.141875871883688,
12.917077542798895
],
"transfer_to_vortex": [
2.092773694785254,
4.270799759963908
],
"vortex": [
5.275340020149287,
8.880308454440836
]
},
"pick_line_azimuth_deg": -45.39332170880874,
"pick_line_tilt_deg": 8.341576409891701,
"pick_pattern": "spiral",
"pick_sway_m": -0.009313581756437227,
"put_pattern": "hook",
"put_sway_m": -0.0026794059424933413,
"rack_put_height_m": 0.17053318708900844,
"return_bend_scale": 1.1059234376533216,
"return_curve_bias": -0.34084704837053664,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 0.905804787931403,
"transfer_bend_m": 0.2628512009958486,
"transfer_side": 1.0,
"transport_tilt_deg": 10.539371064880896,
"vertical_arc_m": 0.27646740674243897,
"vortex_apparent_frequency_hz": 9.254492009041776,
"vortex_approach_height_m": 0.3113677777676327,
"vortex_depart_height_m": 0.3240792878485554,
"vortex_frequency_hz": 20.745507990958224,
"vortex_phase_rad": 1.5589544377827866,
"vortex_radius_m": 0.0005175542477317142,
"vortex_tilt_deg": 0.5367516340247457
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.075,
0.0
],
"scene_id": "wrong_orientation/scene_000045",
"schema_version": 15,
"seed": 25710918,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "a017bd62402e4d141c99cff79ff1f59ca1212ce281b6f34e6ff6d34bd9ba8c83",
"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": -29.332022891471752,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"realized_outcome": {
"azimuth_deg": -29.332022891471752,
"liquid_level_rise_enabled": true,
"orientation_mode": "upside_down",
"tilt_deg_from_z": 180.0,
"vortex_motion_enabled": true
},
"time_window_s": [
5.275340020149287,
8.880308454440836
]
},
"table_color_rgb": [
0.5,
0.46,
0.38
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "spiral",
"approach_sway_m": 0.0029184652065085675,
"depart_pattern": "spiral",
"depart_sway_m": -0.005347652807457734,
"handling_noise_amplitude_m": 0.0075534798326937595,
"handling_noise_frequency_hz": 0.8703521485769746,
"handling_noise_phase_xyz_rad": [
2.2285429545003765,
0.16675728885299293,
3.279401236349492
],
"lift_height_m": 0.09108988975646952,
"orientation_noise_deg": 5.8021010326656395,
"outbound_curve_bias": -0.4685163445205247,
"outbound_pattern": "direct",
"phase_boundaries_s": {
"final_hold": [
13.673366423791201,
14.682906035586589
],
"initial_hold": [
0.0,
0.7815435202063644
],
"lift_from_rack": [
0.7815435202063644,
2.092773694785254
],
"lower_to_rack": [
12.917077542798895,
13.673366423791201
],
"lower_to_vortex": [
4.270799759963908,
5.275340020149287
],
"raise_from_vortex": [
8.880308454440836,
10.141875871883688
],
"transfer_to_rack": [
10.141875871883688,
12.917077542798895
],
"transfer_to_vortex": [
2.092773694785254,
4.270799759963908
],
"vortex": [
5.275340020149287,
8.880308454440836
]
},
"pick_line_azimuth_deg": -45.39332170880874,
"pick_line_tilt_deg": 8.341576409891701,
"pick_pattern": "spiral",
"pick_sway_m": -0.009313581756437227,
"put_pattern": "hook",
"put_sway_m": -0.0026794059424933413,
"rack_put_height_m": 0.17053318708900844,
"return_bend_scale": 1.1059234376533216,
"return_curve_bias": -0.34084704837053664,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 0.905804787931403,
"transfer_bend_m": 0.2628512009958486,
"transfer_side": 1.0,
"transport_tilt_deg": 10.539371064880896,
"vertical_arc_m": 0.27646740674243897,
"vortex_apparent_frequency_hz": 9.254492009041776,
"vortex_approach_height_m": 0.3113677777676327,
"vortex_depart_height_m": 0.3240792878485554,
"vortex_frequency_hz": 20.745507990958224,
"vortex_phase_rad": 1.5589544377827866,
"vortex_radius_m": 0.0005175542477317142,
"vortex_tilt_deg": 0.5367516340247457
},
"trajectory_validation": {
"duration_s": 14.682906035586589,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 2.2247786310271853e-16,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.0025100606720430936,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 180.0,
"wrong_orientation_min_tilt_deg": 179.46324836632792,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "vortex",
"phase_fraction": 0.46361447723377225,
"release_time_s": 6.946655576257614,
"target_surface": "vortex",
"vortex_release_azimuth_deg": 80.37695854468524,
"vortex_release_offset_m": 0.03506383869188905,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-005",
"tube_return_position": [
0.2571610792671652,
0.30044637793957535,
0.8394
],
"tube_start_position": [
0.16225263239648474,
0.33194854790602724,
0.8394
],
"video": "front.mp4",
"video_sha256": "1dce7ab1045dc6fd0845009bd2048556be39e3f80fb907c963feca5a79ec84f9",
"video_validation": {
"actual_frame_count": 440,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 440,
"frame_count_valid": true,
"full_decode_frame_count": 440,
"max_changed_pixel_fraction": 0.0074596354166666665,
"mean_luminance": 156.12220764160156,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
73,
146,
220,
293,
366,
439
],
"spatial_standard_deviation": 27.599977493286133,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.2357918931510527,
-0.10778436353221477,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
-0.22416140527539952,
-0.14478208983768232,
0.79
],
"vortex_yaw_deg": 26.500327131200805,
"wrong_orientation": {
"azimuth_deg": -29.332022891471752,
"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": [
0.3169043736398526,
-0.009443757744462433,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -172.1817222142455,
"release_lateral_offset_m": 0.017477929729530703,
"release_phase_fraction": 0.7709752670311416,
"release_tilt_deg": 22.40683992619345,
"release_time_s": 13.500157564774621,
"slot_offset_xy": [
0.04,
-0.019
],
"tube_target_position": [
0.30908663152195653,
-0.05303140402386223,
0.8500000000000001
],
"yaw_deg": -74.76055725605184
}
}