Upload complete 300-cases-per-category three-camera training set

GENERATION_COMPLETE.json

@@ -0,0 +1,19 @@
+{
+  "all_seeds_unique": true,
+  "changed_inherited_files": [],
+  "checked_at_utc": "2026-09-12T15:49:00.775259+00:00",
+  "extension_valid": true,
+  "full_dataset_quality_passed": false,
+  "generation_complete": true,
+  "inherited_files_unchanged": true,
+  "known_inherited_issues": [
+    {
+      "failures": [
+        "final_tilt_at_least_80_deg"
+      ],
+      "scene_id": "rack_flipped/scene_000070"
+    }
+  ],
+  "new_scene_count": 1600,
+  "new_video_count": 4800
+}

README.md

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+# LabOS vortexing: 300 cases per category, three views
+
+Target: 2,400 scenes and 7,200 videos, at 1920×1200 and 30 FPS.
+The categories are success, vortex_off, tube_empty, cap_open, tube_drop,
+wrong_orientation, wrong_rack, and rack_flipped.
+
+Use `progress.json` and `pipeline_status.json` for the current generation status.
+`GENERATION_COMPLETE.json` is created only after final extension validation.
+Do not infer completeness from the folder name.
+
+Each `CATEGORY/scene_NNNNNN/` contains three synchronized videos (`left.mp4`,
+`front.mp4`, `right.mp4`), matching per-video JSON metadata, `metadata.json`,
+`shared_state.npz`, and three QA contact sheets. `manifest.jsonl` indexes the
+currently accepted videos with relative paths. `camera_rig.json` freezes the
+three camera poses used by the existing set.
+
+IDs 000000–000099 are byte-verified independent copies of the original set.
+IDs 000100–000299 are newly sampled scenes with non-overlapping seed allocations.
+Each scene uses one physical simulation shared by its three camera streams.
+The existing rendering, collision, randomization, and metadata implementation
+is frozen; operational parallelism does not lower resolution or frame rate.
+
+Known inherited exception: `rack_flipped/scene_000070` has a final rack tilt
+of 71.61°, below the final audit's ≥80° threshold. It remains unchanged and
+flagged in `inheritance.json`. New rack-flip scenes are rejected below 80°.
+The final full-dataset integrity audit retains this exception; the separate
+extension audit checks that no new failures or inherited-file changes occurred.
+Frustum coverage is audited, but that is not an exhaustive visual-occlusion
+or artifact certification.
+
+This generation is local only. It does not resume the paused Hugging Face upload.

camera_rig.json

@@ -0,0 +1,299 @@
+{
+  "schema_version": 1,
+  "rig_id": "zed_reference_20260908_v1",
+  "calibration_status": "approximate_reference_fit_not_metric_calibration",
+  "reference_resolution_px": [
+    1920,
+    1200
+  ],
+  "coordinate_system": {
+    "origin": "Reference mixer base centre on the tabletop; simulation workcell origin XY=(0,0)",
+    "axes": "+X right across bench in front view, +Y toward rear wall, +Z up",
+    "pose_convention": "Camera-to-world quaternion XYZW; ROS/OpenCV camera +X right, +Y down, +Z forward",
+    "translation": "eye_table_m is relative to tabletop height; add generator tabletop Z exactly once"
+  },
+  "assumptions": {
+    "focal_length": "Fixed 1000 px prior; not independently recovered",
+    "principal_point": [
+      960.0,
+      600.0
+    ],
+    "square_pixels": true,
+    "lens_distortion": "Unestimated; zero-distortion pinhole approximation, rectification unknown",
+    "scale_reference": "Approximate VTX-001 blue body geometry in simulator metres; not a measured real-world dimension.",
+    "synchronization": "Clips have matching FPS/count; timestamp synchronization not independently verified",
+    "landmark_rmse_scope": "In-sample proxy landmark fit only; not metric pose accuracy or full-scene agreement",
+    "focal_distance_ambiguity": "Inspect focal_sensitivity.json; focal and distance are weakly constrained by these clips"
+  },
+  "cameras": {
+    "left": {
+      "focal_px": 1000.0,
+      "eye_table_m": [
+        -1.777044552192361,
+        0.3981927543438413,
+        1.0980914528341685
+      ],
+      "orientation_xyzw_ros": [
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+        -0.5933339928706739,
+        0.38010947643571985,
+        -0.3738035427163593
+      ],
+      "rotation_world_from_camera": [
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+        ],
+        [
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+        [
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+          -0.4315753947529237
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+      "optical_axis_world": [
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+        -0.00017394276111992735,
+        -0.4315753947529237
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+      "downward_pitch_deg": 25.56758026500303,
+      "landmark_rmse_px": 3.8554691485792083,
+      "landmark_max_error_px": 4.96733822474792,
+      "projected_landmarks_px": [
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+        ],
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+      "optimizer_success": true,
+      "source_video": "/home/kc019/\u4e0b\u8f7d/camera-left_zed_x.mp4",
+      "source_sha256": "68d02cf920c9b1de01c17327be7d35598dda1bc759dc7dc2467101fe8fa99fd3",
+      "source_video_info": {
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+        "height": 1200,
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+      "landmark_ids": [
+        "C",
+        "D",
+        "E",
+        "F",
+        "G",
+        "H",
+        "I"
+      ]
+    },
+    "front": {
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+      "eye_table_m": [
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+        -1.0174104788150782,
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+        0.05410198420556066,
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+      "rotation_world_from_camera": [
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+      "landmark_rmse_px": 4.185593150431943,
+      "landmark_max_error_px": 8.158662572054665,
+      "projected_landmarks_px": [
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+      "optimizer_success": true,
+      "source_video": "/home/kc019/\u4e0b\u8f7d/camera-front_zed_x_mini.mp4",
+      "source_sha256": "d54fb5d9e40386aac8fb28676681d912520ec9ceb34384fcac59d41a7c50fef5",
+      "source_video_info": {
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+        "height": 1200,
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+      "reference_frame_index": 0,
+      "landmark_ids": [
+        "A",
+        "B",
+        "E",
+        "F",
+        "G",
+        "H",
+        "I",
+        "J"
+      ]
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+    "right": {
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+      "optical_axis_world": [
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+        -0.15189967283782663,
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+      "downward_pitch_deg": 47.598105897054275,
+      "landmark_rmse_px": 3.8362042171082424,
+      "landmark_max_error_px": 5.9672870522750765,
+      "projected_landmarks_px": [
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+        [
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+        ]
+      ],
+      "optimizer_success": true,
+      "source_video": "/home/kc019/\u4e0b\u8f7d/camera-right_zed_x.mp4",
+      "source_sha256": "75d5d75ffa677aff1eed7178b45c40d440dca797ff47429e10b13ffd8b637683",
+      "source_video_info": {
+        "width": 1920,
+        "height": 1200,
+        "fps": 30.0,
+        "frame_count": 430
+      },
+      "reference_frame_index": 0,
+      "landmark_ids": [
+        "D",
+        "E",
+        "F",
+        "G",
+        "H",
+        "I",
+        "J"
+      ]
+    }
+  }
+}

cap_open/scene_000000/front.json

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+{
+  "background": {
+    "accent_color_rgb": [
+      0.8795146106753896,
+      0.5338344405246602,
+      0.1599644854531151
+    ],
+    "cabinet_color_rgb": [
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+      0.635812551924855,
+      0.5902928264784715
+    ],
+    "floor_color_rgb": [
+      0.21264984529122075,
+      0.26043851988367217,
+      0.2518088928404205
+    ],
+    "screen_color_rgb": [
+      0.339247542587502,
+      0.6963741371672736,
+      0.6794208900990292
+    ],
+    "style": "wet_lab",
+    "wall_color_rgb": [
+      0.6784790710402755,
+      0.788105940642846,
+      0.7680862692358422
+    ]
+  },
+  "camera_calibration": {
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+      ],
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+        600.0
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+    ],
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+        0.0,
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+    ],
+    "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."
+  },
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+  "camera_rig_id": "zed_reference_20260908_v1",
+  "camera_sensor_verification": {
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+        960.0
+      ],
+      [
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+        600.0
+      ],
+      [
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+    ],
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+      0.0011809766292572021,
+      -0.05410196632146835,
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+    "valid": true
+  },
+  "camera_target": [
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+    -0.22060511489996004,
+    1.4010185086164768
+  ],
+  "camera_view": "front",
+  "distractors": [
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+      "pitch_deg": 0.0,
+      "position": [
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+      "roll_deg": 0.0,
+      "surface": "main_table",
+      "uniform_scale": 1.0359109169020324,
+      "yaw_deg": 124.62804173750078
+    },
+    {
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+      "pitch_deg": 88.51416349005275,
+      "position": [
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+      "surface": "rear_bench",
+      "uniform_scale": 0.8938539151323016,
+      "yaw_deg": -117.91796645780485
+    },
+    {
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+      "position": [
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+      "yaw_deg": 80.22637799232047
+    },
+    {
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+      "yaw_deg": -42.616978505754304
+    },
+    {
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+      "yaw_deg": 93.5266626452792
+    },
+    {
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+      "surface": "main_table",
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+      "yaw_deg": -127.17636207797962
+    }
+  ],
+  "duration_s": 14.725804111863702,
+  "episode_id": 0,
+  "error_type": "cap_open",
+  "frame_count": 442,
+  "generation_success": true,
+  "light_color_rgb": [
+    0.9229104990714262,
+    0.92,
+    0.92
+  ],
+  "light_intensity": 2201.1943560359246,
+  "liquid": {
+    "color_rgb": [
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+      0.2617250706447964,
+      0.35596702387436147
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+    "fill_fraction": 0.4201529787443928,
+    "opacity": 0.9006594291833079,
+    "vortex_level_rise_fraction": 0.2129460173627798
+  },
+  "metadata_schema_version": 2,
+  "outcome": "failure",
+  "physics_scene_count": 1,
+  "rack_flip": {
+    "angular_speed_rad_s": 2.265084006457064,
+    "direction_azimuth_deg": 153.86880474485787,
+    "lateral_speed_mps": 0.025022431521060665,
+    "phase": "lower_to_rack",
+    "phase_fraction": 0.8013113006860006,
+    "release_clearance_m": 0.009833611748817639,
+    "release_tilt_deg": 111.74957168586434,
+    "stage": "insertion",
+    "tip_duration_s": 0.37429159887882785,
+    "trigger_time_s": 13.28941313931362,
+    "tube_detach_fraction": 0.5773672631222263,
+    "tube_engagement_fraction": 0.36115761262469015,
+    "tube_on_rack": true,
+    "upward_speed_mps": 0.08892232288702598
+  },
+  "rack_id": "TR-002",
+  "rack_position": [
+    0.33444371308245036,
+    0.23847946795669067,
+    0.79
+  ],
+  "rack_yaw_deg": 42.40580842909746,
+  "randomization_results": {
+    "assets": {
+      "rack_id": "TR-002",
+      "source_tube_has_cap": true,
+      "tube_cap_present": false,
+      "tube_id": "CT-005",
+      "vortex_id": "VTX-002"
+    },
+    "distractors": {
+      "count": 8,
+      "placements": [
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+}

cap_open/scene_000000/right.json

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+}

cap_open/scene_000001/right.json

@@ -0,0 +1,961 @@
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cap_open/scene_000002/right.json

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+}

cap_open/scene_000003/right.json

@@ -0,0 +1,987 @@
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+}