xspcz's picture
Add files using upload-large-folder tool
c54586b verified
Raw History Blame Contribute Delete
25.3 kB
{
"background": {
"accent_color_rgb": [
0.2270655985953241,
0.523747924781349,
0.6600337583449326
],
"cabinet_color_rgb": [
0.7587558238231749,
0.7362705765241382,
0.8248995496323169
],
"floor_color_rgb": [
0.3084667550015644,
0.32811428536266163,
0.36173161287855177
],
"screen_color_rgb": [
0.5074113753254211,
0.7839843455796706,
0.9115246076448807
],
"style": "clean_room",
"wall_color_rgb": [
0.782183086574871,
0.8280672256474978,
0.920342774299138
]
},
"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": [
-0.42611543658264556,
-0.2875631018977982,
0.7982717353427912
],
"roll_deg": 87.75176336803911,
"surface": "main_table",
"uniform_scale": 0.8540368508561714,
"yaw_deg": 118.19631573811739
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
0.7352715082555933,
1.1917032398966283,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.068186290522176,
"yaw_deg": -1.3504877416926035
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
-0.022093815388438354,
-0.1926750160112039,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9390129906157542,
"yaw_deg": 63.00059129290818
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.5459287650599448,
-0.34381687922351417,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9977406987597374,
"yaw_deg": 13.486767097799657
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.3536819568711146,
1.0876821792449665,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1594898322349354,
"yaw_deg": 14.535562604585124
},
{
"asset_id": "TIP-010",
"pitch_deg": 0.0,
"position": [
-0.6443275287834908,
0.30732917856006975,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1672486822637618,
"yaw_deg": -176.6266372951576
},
{
"asset_id": "PIP-017",
"pitch_deg": 91.14835488881928,
"position": [
-0.5679672239880973,
1.1159623618490306,
0.8584218461687105
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9989927072883911,
"yaw_deg": 161.67221299850547
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.6204717378955368,
-0.08994359922496076,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0299008555510272,
"yaw_deg": 96.62577953856339
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.19551130525963456,
0.2711053420125469,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1141034778143653,
"yaw_deg": 164.41927741646316
}
],
"duration_s": 17.179215445231627,
"episode_id": 47,
"error_type": "wrong_orientation",
"frame_count": 515,
"generation_success": true,
"light_color_rgb": [
0.9831963153884024,
0.92,
0.92
],
"light_intensity": 2517.131296725021,
"liquid": {
"color_rgb": [
0.3730689180251032,
0.22125870703227327,
0.032911586912989704
],
"fill_fraction": 0.5580932298293931,
"opacity": 0.915293723677688,
"vortex_level_rise_fraction": 0.20266996972832993
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.4768883240903437,
"direction_azimuth_deg": -97.26655047524191,
"lateral_speed_mps": 0.04647485887058177,
"phase": "lift_from_rack",
"phase_fraction": 0.3187382448113514,
"release_clearance_m": 0.004120946728924056,
"release_tilt_deg": 112.01228222261949,
"stage": "pickup",
"tip_duration_s": 0.36477798927737926,
"trigger_time_s": 2.037140171070852,
"tube_detach_fraction": 0.5669993095883987,
"tube_engagement_fraction": 0.39940354310951054,
"tube_on_rack": true,
"upward_speed_mps": 0.09306955865081645
},
"rack_id": "TR-004",
"rack_position": [
-0.3855559574993146,
-0.01953908071977306,
0.79
],
"rack_yaw_deg": -34.64494638850002,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-002"
},
"distractors": {
"count": 9,
"placements": [
{
"asset_id": "PIP-007",
"pitch_deg": 0.0,
"position": [
-0.42611543658264556,
-0.2875631018977982,
0.7982717353427912
],
"roll_deg": 87.75176336803911,
"surface": "main_table",
"uniform_scale": 0.8540368508561714,
"yaw_deg": 118.19631573811739
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
0.7352715082555933,
1.1917032398966283,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.068186290522176,
"yaw_deg": -1.3504877416926035
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
-0.022093815388438354,
-0.1926750160112039,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9390129906157542,
"yaw_deg": 63.00059129290818
},
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.5459287650599448,
-0.34381687922351417,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9977406987597374,
"yaw_deg": 13.486767097799657
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
0.3536819568711146,
1.0876821792449665,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1594898322349354,
"yaw_deg": 14.535562604585124
},
{
"asset_id": "TIP-010",
"pitch_deg": 0.0,
"position": [
-0.6443275287834908,
0.30732917856006975,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1672486822637618,
"yaw_deg": -176.6266372951576
},
{
"asset_id": "PIP-017",
"pitch_deg": 91.14835488881928,
"position": [
-0.5679672239880973,
1.1159623618490306,
0.8584218461687105
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9989927072883911,
"yaw_deg": 161.67221299850547
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.6204717378955368,
-0.08994359922496076,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0299008555510272,
"yaw_deg": 96.62577953856339
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.19551130525963456,
0.2711053420125469,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1141034778143653,
"yaw_deg": 164.41927741646316
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.2270655985953241,
0.523747924781349,
0.6600337583449326
],
"cabinet_color_rgb": [
0.7587558238231749,
0.7362705765241382,
0.8248995496323169
],
"floor_color_rgb": [
0.3084667550015644,
0.32811428536266163,
0.36173161287855177
],
"screen_color_rgb": [
0.5074113753254211,
0.7839843455796706,
0.9115246076448807
],
"style": "clean_room",
"wall_color_rgb": [
0.782183086574871,
0.8280672256474978,
0.920342774299138
]
},
"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": [
0.9831963153884024,
0.92,
0.92
],
"light_intensity": 2517.131296725021,
"table_color_rgb": [
0.5,
0.46,
0.38
]
},
"layout": {
"rack_position_m": [
-0.3855559574993146,
-0.01953908071977306,
0.79
],
"rack_to_vortex_bearing_deg": 16.79991805745428,
"rack_to_vortex_distance_m": 0.7501400287977146,
"rack_yaw_deg": -34.64494638850002,
"return_slot_offset_xy_m": [
0.025,
0.0
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.025,
0.0
],
"tube_return_position_m": [
-0.3649886909192124,
-0.03375131296608153,
0.8529
],
"tube_start_position_m": [
-0.4061232240794168,
-0.005326848473464587,
0.8529
],
"vortex_contact_position_m": [
0.30648575545715323,
0.20866785382751019,
0.9790000000000001
],
"vortex_position_m": [
0.33256802802800356,
0.1972742127264456,
0.79
],
"vortex_yaw_deg": 47.3310836809227
},
"liquid": {
"color_rgb": [
0.3730689180251032,
0.22125870703227327,
0.032911586912989704
],
"effective_peak_level_fraction": 0.7607631995577231,
"effective_vortex_level_rise_fraction": 0.20266996972832993,
"fill_fraction": 0.5580932298293931,
"opacity": 0.915293723677688,
"present": true,
"vortex_level_rise_fraction": 0.20266996972832993
},
"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": 25730910,
"trajectory": {
"approach_pattern": "hook",
"approach_sway_m": -0.009468827874546965,
"depart_pattern": "spiral",
"depart_sway_m": 0.0054059181021193035,
"handling_noise_amplitude_m": 0.010495875613546635,
"handling_noise_frequency_hz": 2.441052224012245,
"handling_noise_phase_xyz_rad": [
0.8134528917410727,
0.8292791322610437,
2.848659086714159
],
"lift_height_m": 0.17183747577594166,
"orientation_noise_deg": 4.728756257906701,
"outbound_curve_bias": -0.3215031630026026,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
16.112186312769076,
17.179215445231627
],
"initial_hold": [
0.0,
1.2590951213112591
],
"lift_from_rack": [
1.2590951213112591,
3.7001107898893655
],
"lower_to_rack": [
15.175461118954079,
16.112186312769076
],
"lower_to_vortex": [
5.8472469522492165,
7.401687513681862
],
"raise_from_vortex": [
12.011668983627233,
12.995040414566114
],
"transfer_to_rack": [
12.995040414566114,
15.175461118954079
],
"transfer_to_vortex": [
3.7001107898893655,
5.8472469522492165
],
"vortex": [
7.401687513681862,
12.011668983627233
]
},
"pick_line_azimuth_deg": 116.76708351501287,
"pick_line_tilt_deg": 4.305021225447678,
"pick_pattern": "hook",
"pick_sway_m": -0.0043642501404540495,
"put_pattern": "hook",
"put_sway_m": -0.006606125386196205,
"rack_put_height_m": 0.19291108588298914,
"return_bend_scale": 1.7366992184654015,
"return_curve_bias": 0.6798627301458147,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 1.044840154169117,
"transfer_bend_m": 0.1154637963354444,
"transfer_side": -1.0,
"transport_tilt_deg": 1.1112136038082974,
"vertical_arc_m": 0.04598147143594766,
"vortex_apparent_frequency_hz": 11.108931996353604,
"vortex_approach_height_m": 0.21508653448431247,
"vortex_depart_height_m": 0.19706072676108483,
"vortex_frequency_hz": 41.108931996353604,
"vortex_phase_rad": 3.928167155288286,
"vortex_radius_m": 0.00038199843795645884,
"vortex_tilt_deg": 0.6543862737418581
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.025,
0.0
],
"scene_id": "wrong_orientation/scene_000047",
"schema_version": 15,
"seed": 25730910,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "a2371e1c9b03da5e1ede3731c069da11094119d48d69691bf4792ac2ec67417a",
"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": -7.921135438485123,
"mode": "upside_down",
"tilt_deg_from_z": 180.0
},
"realized_outcome": {
"azimuth_deg": -7.921135438485123,
"liquid_level_rise_enabled": true,
"orientation_mode": "upside_down",
"tilt_deg_from_z": 180.0,
"vortex_motion_enabled": true
},
"time_window_s": [
7.401687513681862,
12.011668983627233
]
},
"table_color_rgb": [
0.5,
0.46,
0.38
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "hook",
"approach_sway_m": -0.009468827874546965,
"depart_pattern": "spiral",
"depart_sway_m": 0.0054059181021193035,
"handling_noise_amplitude_m": 0.010495875613546635,
"handling_noise_frequency_hz": 2.441052224012245,
"handling_noise_phase_xyz_rad": [
0.8134528917410727,
0.8292791322610437,
2.848659086714159
],
"lift_height_m": 0.17183747577594166,
"orientation_noise_deg": 4.728756257906701,
"outbound_curve_bias": -0.3215031630026026,
"outbound_pattern": "zigzag",
"phase_boundaries_s": {
"final_hold": [
16.112186312769076,
17.179215445231627
],
"initial_hold": [
0.0,
1.2590951213112591
],
"lift_from_rack": [
1.2590951213112591,
3.7001107898893655
],
"lower_to_rack": [
15.175461118954079,
16.112186312769076
],
"lower_to_vortex": [
5.8472469522492165,
7.401687513681862
],
"raise_from_vortex": [
12.011668983627233,
12.995040414566114
],
"transfer_to_rack": [
12.995040414566114,
15.175461118954079
],
"transfer_to_vortex": [
3.7001107898893655,
5.8472469522492165
],
"vortex": [
7.401687513681862,
12.011668983627233
]
},
"pick_line_azimuth_deg": 116.76708351501287,
"pick_line_tilt_deg": 4.305021225447678,
"pick_pattern": "hook",
"pick_sway_m": -0.0043642501404540495,
"put_pattern": "hook",
"put_sway_m": -0.006606125386196205,
"rack_put_height_m": 0.19291108588298914,
"return_bend_scale": 1.7366992184654015,
"return_curve_bias": 0.6798627301458147,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 1.044840154169117,
"transfer_bend_m": 0.1154637963354444,
"transfer_side": -1.0,
"transport_tilt_deg": 1.1112136038082974,
"vertical_arc_m": 0.04598147143594766,
"vortex_apparent_frequency_hz": 11.108931996353604,
"vortex_approach_height_m": 0.21508653448431247,
"vortex_depart_height_m": 0.19706072676108483,
"vortex_frequency_hz": 41.108931996353604,
"vortex_phase_rad": 3.928167155288286,
"vortex_radius_m": 0.00038199843795645884,
"vortex_tilt_deg": 0.6543862737418581
},
"trajectory_validation": {
"duration_s": 17.179215445231627,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 9.566618574882216e-16,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.004899913592732022,
"valid": true,
"wrong_orientation_contact_error_m": 1.1102230246251565e-16,
"wrong_orientation_max_tilt_deg": 180.0,
"wrong_orientation_min_tilt_deg": 179.34561372631003,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "transfer_to_rack",
"phase_fraction": 0.6446258897859523,
"release_time_s": 14.40059605123992,
"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": [
-0.3649886909192124,
-0.03375131296608153,
0.8529
],
"tube_start_position": [
-0.4061232240794168,
-0.005326848473464587,
0.8529
],
"video": "front.mp4",
"video_sha256": "48574a24fed1a9e1fabd972e3125f3085345e155b6ddd8f63f61ee772a6fcb15",
"video_validation": {
"actual_frame_count": 515,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 515,
"frame_count_valid": true,
"full_decode_frame_count": 515,
"max_changed_pixel_fraction": 0.011586805555555555,
"mean_luminance": 156.73362731933594,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
86,
171,
257,
343,
428,
514
],
"spatial_standard_deviation": 32.16643524169922,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.30648575545715323,
0.20866785382751019,
0.9790000000000001
],
"vortex_id": "VTX-002",
"vortex_position": [
0.33256802802800356,
0.1972742127264456,
0.79
],
"vortex_yaw_deg": 47.3310836809227,
"wrong_orientation": {
"azimuth_deg": -7.921135438485123,
"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": [
-0.649273737644913,
0.0876138767829352,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 126.30507324152842,
"release_lateral_offset_m": 0.021462048081994083,
"release_phase_fraction": 0.6657639358018779,
"release_tilt_deg": 22.761816018218685,
"release_time_s": 15.799098970753128,
"slot_offset_xy": [
0.0,
-0.019
],
"tube_target_position": [
-0.6396382868498632,
0.07123834357097,
0.8500000000000001
],
"yaw_deg": 30.472781669088974
}
}